Hydraulic drive type orientator capable of rotating continuously

Abstract

The invention provides a continuously rotating hydraulic drive type orientator which comprises a piston rod arranged in the middle of a shell in a penetrating mode, the lower portion of the piston rod is connected with an output shaft through a speed reducing mechanism and a coupler, the outer side of the upper portion of the piston rod is sequentially sleeved with a driving piston and a limiting piston, and a cylindrical pin and a rotating pin are detachably arranged on the driving piston. The axis of the rotating pin is perpendicular to the axis of the piston rod, a plurality of pin grooves are formed in the piston rod, the bottoms of the pin grooves are connected through a spiral sliding groove, and the limiting piston moves to drive the driving piston to press the rotating pin downwards so as to drive the piston rod to rotate by an angle. The directional device is ingenious in design and compact in structure, the rotating precision of the directional device can be greatly improved, continuous operation is guaranteed, and therefore the drilling effect is improved.

Description

Technical Field

[0001] The invention relates to the technical field of oil drilling tools, in particular to a continuously rotatable hydraulically driven direction finder. Background Art

[0002] In coiled tubing directional drilling, the coiled tubing itself cannot be twisted. In order to control the wellbore trajectory, a directional device is needed to adjust the angle of the drill bit tool face. At present, the more mature hydraulically driven directional devices on the market are that when the pump is turned on, the drilling fluid flows from the directional device to the drill bit, and the pressure difference generated by the flow through the bottom hole drilling tool drives the ratchet tool to rotate and drives the output shaft to rotate (such as Figure 1 As shown in the figure), the output torque is proportional to the pressure difference; when the pump is turned off, the pressure difference between the inside and outside of the directional control disappears, and the directional control is reset (as shown in the figure). Figure 2 At the same time, the ratchet locking device locks the current orientation until the pump is turned on again.

[0003] The above orientation process needs to be performed multiple times until the required orientation is reached. During this process, the pump needs to be continuously switched on and off to achieve multiple adjustments to the tool face. Continuous rotation cannot be achieved, resulting in poor orientation accuracy and low efficiency.

[0004] Chinese patent document CN 105178856 A records an oil and gas well directional device, which also has the problems of limited directional accuracy and inconvenient locking; Chinese patent document CN 114439367 A records a continuous tubing drilling directional device, which still has the above problems, has defects in use, and needs to be improved. Summary of the invention

[0005] The present invention provides a continuously rotatable hydraulically driven orienter, which solves the problems that the orienter cannot rotate continuously, the operation is complicated, the rotation angle of a single cycle is large and the precision is low, and the overall service life is limited.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a continuously rotatable hydraulically driven direction finder, including a piston rod passing through the middle of the outer shell, the lower part of the piston rod is connected to the output shaft through a reduction mechanism and a coupling, and a driving piston and a limiting piston are sequentially sleeved on the upper outer side of the piston rod. A cylindrical pin and a rotating pin are detachably provided on the driving piston, and the axis of the rotating pin is perpendicular to the axis of the piston rod. A plurality of pin grooves are provided on the piston rod, and the bottom of the pin grooves are connected by a spiral groove. The movement of the limiting piston drives the driving piston to press down the rotating pin, thereby driving the piston rod to rotate at an angle.

[0007] In a preferred solution, at least two parallel annular grooves are provided on the outer side of the driving piston, a sealing ring is embedded in the annular groove, a mounting hole is penetrated through the side wall of the driving piston, and a cylindrical pin is inserted in the mounting hole.

[0008] In the preferred embodiment, a partition is provided in the middle part of the inner side of the shell, and the partition divides the shell into a first chamber and a second chamber. A through hole is provided in the middle part of the partition, and the piston rod is passed through the through hole. The limit piston is located in the first chamber, and the lower side of the limit piston is pressed against the partition through a return spring. The return spring is sleeved on the outside of the piston rod. The reduction mechanism, the coupling and the output shaft are located in the second chamber, and the reduction mechanism is connected to the coupling through a reducer.

[0009] In a preferred solution, a first mounting portion and a second mounting portion are respectively provided at the ends of the first chamber and the second chamber, a non-rotating joint is provided in the first mounting portion, and a bearing is provided in the second mounting portion.

[0010] In the preferred embodiment, two first threaded holes are symmetrically provided on the upper side of the shell, limit pins are provided in the first threaded holes, the limit piston is connected to the shell through the limit pins, limit grooves are symmetrically provided on both sides of the limit piston, and the limit pins are slidably arranged in the limit grooves.

[0011] In a preferred solution, a locking mechanism is further provided on one side of the second chamber close to the partition, and the locking mechanism is used to lock the output shaft through the piston rod.

[0012] In a preferred embodiment, the piston rod includes a first rod body and a second rod body, a plurality of pin grooves are arranged parallel to the axis direction on the outside of the first rod body, a spacer is provided between two adjacent pin grooves, and the widths of the pin grooves and the spiral grooves are matched with the size of the rotating pins.

[0013] In the preferred embodiment, the locking mechanism includes a fixed sleeve and a pawl, a plurality of straight extension plates are provided along the circumferential direction on the outer side of the second rod body, a slideway and a fixed groove are provided inside the straight extension plates, a plurality of locking openings matching the pawl are provided on the inner side of the fixed sleeve, the pawl is located in the slideway, the pawl is connected to the second rod body through a support spring, and the support spring is located in the fixed groove.

[0014] In the preferred embodiment, a through hole is provided in the middle of the cylindrical pin, a second threaded hole is provided on the upper side of the through hole, a boss is provided on the upper side of the rotating pin, the outer diameter of the boss is equal to that of the second threaded hole, the rotating pin is passed through the through hole, a pin is provided in the second threaded hole, and the lower side of the pin rests on the boss.

[0015] In the preferred solution, a hemispherical hole is provided at the top of the boss, a contact head is provided at the bottom of the rotating pin, and a docking port and a ball are provided at the top and bottom of the pin, respectively, and the ball rests in the hemispherical hole; A plurality of induction grooves corresponding to the bottom openings of the pin grooves are arranged on the center line of the spiral direction of the spiral groove in the spiral groove, the induction grooves cooperate with the contact head, a magnetic block is arranged on one side of the bottom opening of the pin groove, and the magnetic block and the contact head are magnetically attracted.

[0016] The beneficial effects of the present invention are as follows: by arranging a driving piston on the upper part of the driving piston, the rotating pin on the driving piston is driven to shift on the piston rod through the pressure difference, thereby pushing the piston rod to rotate. The rotation angle of the piston rod is reduced twice by the planetary gear of the reduction mechanism, thereby improving the accuracy of the rotation angle of the output shaft by several times, and the rotation is smooth. The locking mechanism can lock the state of the above-mentioned output shaft, the overall operation is stable, the continuous operation is smoothly switched, and the use effect is good.

[0017] 1. This solution can realize continuous rotation during the hydraulic drive direction finder rotation positioning process, without the need to repeatedly switch the pump on and off for angle adjustment, which is more efficient. In addition, during use, the reversing mechanism and locking mechanism will not be fatigued or deformed due to repeated hydraulic shocks, thus extending the service life of the tool.

[0018] 2. This solution has a two-stage positioning mechanism, which has a greater positioning angle accuracy and is not limited by the size of the reversing mechanism. It can achieve precise positioning of a single pump start, shorten the construction period, and save drilling costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the working state of the traditional director; Figure 2 This is a schematic diagram of the reset state of the traditional orienter; Figure 3 The overall structure of the present invention is shown in FIG. Figure 1 ; Figure 4 yes Figure 3 Schematic diagram of top view; Figure 5 yes Figure 4 AA section view; Figure 6 The overall structure of the present invention is shown in FIG. Figure 2 ; Figure 7 yes Figure 6 Schematic diagram of top view; Figure 8 yes Figure 7 BB section view; Fig. 9 It is a schematic diagram of the overall structure of the housing of the present invention; Fig.10 yes Fig. 9 Schematic diagram of top view; Fig.11 yes Fig.10 CC section view; Fig.12 The internal structure of the present invention Figure 1 ; Fig.13 The internal structure of the present invention Figure 2 ; Fig.14 The internal structure of the present invention Figure 3 ; Fig.15 The internal structure of the present invention Figure 4 ; Fig.16 yes Fig.12 Schematic diagram of the explosion structure Figure 1 ; Fig.17 yes Fig.16 A magnified schematic diagram of point A; Fig.18 yes Fig.12 Schematic diagram of the explosion structure Figure 2 ; Fig.19 yes Fig.12 Schematic diagram of the explosion structure Figure 3 ; Fig. 20 It is a schematic diagram of the connection between the piston rod, the cylindrical pin and the rotating pin of the present invention; Fig.21 yes Fig. 20 An enlarged schematic diagram of point B; Fig. 22 This is a schematic diagram of the internal initial state of the present invention. Figure 1 ; Fig.23 This is a schematic diagram of the internal initial state of the present invention. Figure 2 ; Fig.24 This is a schematic diagram of the internal initial state of the present invention. Figure 3 ; Fig.25 This is a schematic diagram of the internal initial state of the present invention. Figure 4 ; Fig.26 is a top view schematic diagram of the locking mechanism of the present invention; Fig. 27 is a schematic diagram of a rotating pin driving a piston rod of the present invention; Fig.28 yes Fig. 27 Schematic diagram of force analysis; Fig.29 yes Fig. 27 Schematic diagram of top view of force analysis; Fig.30 The speed reduction mechanism of the present invention is shown in FIG. Figure 1 ; Fig.31 The speed reduction mechanism of the present invention is shown in FIG. Figure 2 ; Fig.32It is a schematic diagram of the cylindrical pin connected to the rotating pin structure of the present invention; Fig.33 yes Fig.32 Schematic diagram of the explosion structure.

[0020] In the figure: driving piston 1; annular groove 101; mounting hole 102; spiral cam 2; ratchet 3; return spring 4; balancing piston 5; output shaft 6; housing 7; partition 701; first chamber 702; second chamber 703; through hole 704; first mounting portion 705; second mounting portion 706; first threaded hole 707; non-rotating joint 8; limiting piston 9; limiting groove 901; limiting pin 10; piston rod 11; pin groove 1101; partition bar 1102; spiral slide groove 1103; first rod body 1104; second rod body 110 5; straight plate 1106; slideway 1107; fixed groove 1108; induction groove 1109; magnetic block 1110; locking mechanism 12; fixed sleeve 1201; lock 1202; pawl 1203; speed reduction mechanism 13; reducer 14; coupling 15; bearing 16; cylindrical pin 17; through hole 1701; second threaded hole 1702; pin 1703; docking port 1704; ball 1705; rotating pin 18; boss 1801; hemispherical hole 1802; contact head 1803; sealing ring 19; support spring 20. DETAILED DESCRIPTION

[0021] like Figure 3-8 In the invention, a continuously rotatable hydraulically driven direction finder is provided, comprising a piston rod 11 passing through the middle of a housing 7, the lower part of the piston rod 11 being connected to an output shaft 6 via a reduction mechanism 13 and a coupling 15, a driving piston 1 and a limiting piston 9 being sleeved on the outer side of the upper part of the piston rod 11 in sequence, a cylindrical pin 17 and a rotating pin 18 being detachably provided on the driving piston 1, the axis of the rotating pin 18 being perpendicular to the axis of the piston rod 11, a plurality of pin grooves 1101 being provided on the piston rod 11, the bottoms of the pin grooves 1101 being connected via spiral slide grooves 1103, the movement of the limiting piston 9 driving the driving piston 1 to press down the rotating pin 18, thereby driving the piston rod 11 to rotate at an angle.

[0022] like Figure 1-2In the figure, it is a schematic diagram of the working and reset state of a traditional orienter. However, the above-mentioned orientation process needs to be carried out multiple times until the required orientation is reached. During this process, the pump needs to be continuously switched on and off to achieve multiple adjustments of the tool surface. Continuous rotation cannot be achieved, resulting in poor orientation accuracy and low efficiency. In this orientation process, the pressure difference is mainly converted into a rotation angle by the spiral cam 2. However, due to the size limitation of the spiral cam 2, the rotation angle of a single cycle of the orientation process is only 20 degrees. If the target orientation angle is greater than 20 degrees, the pump needs to be switched on and off multiple times, and when the target orientation angle is less than 20 degrees, there is no way to accurately position it. This method is not accurate and is time-consuming and labor-intensive. During the use of the orienter, the impact of repeatedly switching the pump will cause fatigue damage and deformation of the spiral cam 2 and the locking ratchet 3, and the balance piston 5 will also be subjected to a large impact under the action of the switching pump, so the overall service life of the orienter will be reduced.

[0023] In addition, because the existing hydraulically driven direction finder cannot rotate continuously, after multiple switching of the pump to adjust the angle, the actual rotation angle fails to reach or exceeds the target azimuth, causing deviations in the wellbore trajectory, resulting in extended construction period and increased drilling costs.

[0024] The specific implementation process of this solution when in use is as follows: the reset spring 4, the drive piston 1 and the limit piston 9 are sequentially installed in the housing 7 to form a fit, and then the piston rod 11 is inserted into the reset spring 4, the drive piston 1 and the limit piston 9.

[0025] Then, the limiting piston 9 is limited by the cooperation of the limiting pin 10 and the housing 7, and the rotating pin 18 is installed at the end of the cylindrical pin 17. The rotating pin 18 cooperates with the driving piston 1 to drive the piston rod 11 to adjust the angle, and finally the non-rotating joint 8 is installed on the top of the housing 7. When the orienter performs the reversing work, the drilling fluid flows in through the hole between the non-rotating joint 8 and the limiting piston 9 to form pressure. When the hydraulic pressure acts on the limit piston 9 through the non-rotating joint 8, the limit piston 9 completes an impact on the driving piston 1 within a limited stroke, and the driving piston 1 obtains a downward impact force, so that the cylindrical pin 17 in the driving piston 1 moves downward as a whole with the driving piston 1, and the rotating pin 18 arranged at the end of the cylindrical pin 17 moves downward with the driving piston 1. Since the rotating pin 18 slides on the spiral groove 1103 of the piston rod 11, the axial movement of the rotating pin 18 is converted into the circumferential rotation of the piston rod 11, which can realize continuous rotation during the orientation process, and then enters the pin groove 1101 after being adjusted to the designed angle for locking, so as to prevent the piston rod 11 from rotating again.

[0026] In a preferred embodiment, at least two annular grooves 101 are provided in parallel on the outer side of the driving piston 1 , a sealing ring 19 is embedded in the annular groove 101 , a mounting hole 102 is penetrated through the side wall of the driving piston 1 , and a cylindrical pin 17 is inserted into the mounting hole 102 .

[0027] The sealing ring 19 adopts an O-ring, which has a good overall sealing effect, ensures the overall pressure stability, and the overall response speed of the orienter is fast. The cylindrical pin 17 is fixed in the mounting hole 102 as a sealing structure and serves as a supporting basis for the rotating pin 18, which is easy to adjust.

[0028] like Figure 9-11 In the preferred embodiment, a partition 701 is provided in the middle of the inner side of the shell 7, and the partition 701 divides the shell 7 into a first chamber 702 and a second chamber 703. A through hole 704 is provided in the middle of the partition 701, and the piston rod 11 is inserted into the through hole 704. The limiting piston 9 is located in the first chamber 702, and the lower side of the limiting piston 9 is pressed against the partition 701 through a return spring 4. The return spring 4 is sleeved on the outside of the piston rod 11, and the reduction mechanism 13, the coupling 15 and the output shaft 6 are located in the second chamber 703, and the reduction mechanism 13 is connected to the coupling 15 through a reducer 14.

[0029] The housing 7 is made of hard alloy, has stable bearing capacity, and provides a stable working environment for each component. The speed reduction mechanism 13 adopts a planetary gear to improve the overall rotation accuracy.

[0030] In a preferred solution, a first mounting portion 705 and a second mounting portion 706 are respectively disposed at the ends of the first chamber 702 and the second chamber 703 . A non-rotating joint 8 is disposed in the first mounting portion 705 , and a bearing 16 is disposed in the second mounting portion 706 .

[0031] In the preferred embodiment, two first threaded holes 707 are symmetrically provided on the upper side of the shell 7, a limit pin 10 is provided in the first threaded hole 707, the limit piston 9 is connected to the shell 7 through the limit pin 10, and limit grooves 901 are symmetrically provided on both sides of the limit piston 9, and the limit pin 10 is slidably arranged in the limit groove 901.

[0032] In a preferred solution, a locking mechanism 12 is further provided on one side of the second chamber 703 close to the partition 701, and the locking mechanism 12 is used to lock the output shaft 6 through the piston rod 11. Figure 25-29 , which is a schematic diagram of the force of this solution, the locking mechanism 12 cooperates with the rotating pin 18 to achieve precise control of the angle of the output shaft 6.

[0033] Due to the size limitation of the spiral cam, the hydraulically driven directional device has a large rotation angle in a single cycle, and the poor positioning accuracy causes deviations in the wellbore trajectory, which may lead to extended construction period and increased drilling costs.

[0034] The orientation device of this solution has a positioning accuracy between 1 degree and 1.5 degrees. The specific implementation process is as follows: the locking mechanism 12, the speed reduction mechanism 13, the coupling 14 and the output shaft 6 are sequentially installed in the housing to form a fit. When the hydraulic pressure presses the non-rotating joint 8 to the maximum limit position of the limit piston 9, the reset spring 4 is also in the maximum compression state, and the piston rod 11 has also completed the first-level orientation angle. At this time, there is no pressure relief, and the locking mechanism 12 does not work. Then the piston rod 11 transmits the orientation angle to the speed reduction mechanism 13 to achieve the second-level speed reduction orientation. The decelerated torque is transmitted to the coupling 14 through the speed reduction mechanism 13 and finally to the output shaft 6 to achieve one-stroke orientation. Figure 30-31 In the present invention, the reduction mechanism 13 adopts a planetary gear reducer, which can output the rotation angle of the piston rod 11 to 0.25 times of it. Since the first-stage orientation angle of the transmission reversing designed for the piston rod 11 can be changed by 5° at the minimum, the output orientation accuracy of the orienter can reach 1.25° through the secondary orientation of the reduction mechanism 13; after the hydraulic pressure is released, the driving piston 1 moves upward under the action of the reset spring 4, and the rotating pin 18 is driven by the driving piston 1 to disengage the spiral slide groove 1103 and move upward to the top of the wall in the pin groove 1101. At this time, the limit piston 9 reaches the upper limit position and pushes the drilling fluid out of the hole at the upper end of the sleeve housing 7. The internal pressure difference of the orienter disappears and reset is achieved. In this process, the locking mechanism 12 locks the output shaft 6 so that the output shaft does not rotate circumferentially and does not transmit torque downward. One working cycle of the orienter includes one reversing work and one resetting work. After multiple cycles, the orientation function of multi-angle and small angle requirements can be realized.

[0035] like Figure 12-24 In the preferred embodiment, the piston rod 11 includes a first rod body 1104 and a second rod body 1105, a plurality of pin grooves 1101 are arranged parallel to the axial direction on the outer side of the first rod body 1104, a partition bar 1102 is provided between two adjacent pin grooves 1101, and the widths of the pin grooves 1101 and the spiral groove 1103 are matched with the sizes of the rotating pin 18 respectively.

[0036] The plurality of pin slots 1101 provide a plurality of locking angles, thereby facilitating the output shaft 6 to rotate within a smaller angle range. The partition bar 1102 prevents the rotating pin 18 from moving circumferentially within the pin slot 1101, and the locking effect is good.

[0037] In the preferred embodiment, the locking mechanism 12 includes a fixed sleeve 1201 and a pawl 1203. A plurality of straight extension plates 1106 are circumferentially arranged on the outer side of the second rod body 1105. A slideway 1107 and a fixed groove 1108 are arranged inside the straight extension plate 1106. A plurality of locking openings 1202 matching the pawl 1203 are arranged on the inner side of the fixed sleeve 1201. The pawl 1203 is located in the slideway 1107. The pawl 1203 is connected to the second rod body 1105 through a support spring 20. The support spring 20 is located in the fixed groove 1108.

[0038] The locking mechanism 12 can cooperate with the piston rod 11 to complete directional locking, which is convenient and simple to use. Through the above settings, the orienter can be guaranteed to work stably and the unidirectional movement adjustment accuracy is high.

[0039] like Figure 32-33 In the preferred embodiment, a through hole 1701 is provided in the middle of the cylindrical pin 17, a second threaded hole 1702 is provided on the upper side of the through hole 1701, a boss 1801 is provided on the upper side of the rotating pin 18, the outer diameter of the boss 1801 is equal to the second threaded hole 1702, the rotating pin 18 is passed through the through hole 1701, a pin 1703 is provided in the second threaded hole 1702, and the lower side of the pin 1703 rests on the boss 1801.

[0040] The quick-install and disassembly structural design is easy to produce and manufacture, and convenient for later adjustment. At the same time, the boss 1801 can ensure that the rotating pin 18 can rotate during operation, thereby reducing the friction during operation, ensuring smooth operation, efficient use, and facilitating later maintenance.

[0041] In the preferred embodiment, a hemispherical hole 1802 is provided at the top of the boss 1801, a contact head 1803 is provided at the bottom of the rotating pin 18, and a docking port 1704 and a ball 1705 are provided at the top and bottom of the pin 1703, respectively, and the ball 1705 abuts against the hemispherical hole 1802; A plurality of sensing grooves 1109 corresponding to the bottom opening of the pin groove 1101 are provided on the center line of the spiral direction of the spiral groove 1103. The sensing grooves 1109 cooperate with the contact head 1803. A magnetic block 1110 is provided on one side of the bottom opening of the pin groove 1101. The magnetic block 1110 and the contact head 1803 are magnetically attracted.

[0042] The cooperation of the ball 1705 and the hemispherical hole 1802 improves the overall alignment accuracy and ensures that the rotating pin 18 only rotates in the axial direction. The rotation accuracy is high and the increase of the matching clearance between the rotating pin 18 and the through hole 1701 caused by long-term use can be reduced. At this time, the ball 1705 and the hemispherical hole 1802 can still be locked with each other to ensure coaxiality, thereby improving the purpose of use accuracy. In addition, due to the use of the spiral groove 1103, when the rotating pin 18 is forced to be pressed down, there is induction and matching for each minimum angle of rotation, which improves the overall perception. Since the rotating pin 18 can move slightly in the axial direction, the pin 1703 adopts a ball screw, which can stably press the rotating pin 18 in the spiral groove 1103. When encountering the sensing groove 1109, the contact head 1803 of the rotating pin 18 enters the sensing groove 1109. The contact head 1803 is provided with a chamfered matching surface. At the same time, in order to detect the rotating pin Whether the contact head 1803 of 18 enters the sensing groove 1109, a sensor can be set to detect the change in the stress state of the ball 1705 of the pin 1703. When there is a slight change, the ball 1705 suddenly drops, which means that it is entering the sensing groove 1109. When it reaches the lowest point, it completely enters the sensing groove 1109. Similarly, if the rotation angle is reached in the sensing groove 1109, it is necessary to ensure that the rotating pin 18 accurately enters the pin groove 1101 directly above. At this time, the magnetic block 1110 set has the effect of traction and attraction. The overall suction effect in the pin groove 1101 is good, the gear shifting is smooth, and the problem of inadequate docking causing the rotation angle to shift is avoided. The magnetic block 1110 adopts a permanent strong magnet, and the elastic deformation force of the strong magnet is smaller than the reset spring 4. Through the above arrangement, the stepped continuous rotation between the two adjacent pin grooves 1101 can be better completed. The design is ingenious and the use effect is good.

[0043] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A continuously rotatable hydraulically driven orienter, characterized by: The invention comprises a piston rod (11) which is inserted into the middle of a housing (7). The lower part of the piston rod (11) is connected to an output shaft (6) via a speed reducing mechanism (13) and a coupling (15). The outer side of the upper part of the piston rod (11) is sleeved with a driving piston (1) and a limiting piston (9) in sequence. The driving piston (1) is detachably provided with a cylindrical pin (17) and a rotating pin (18). The axis of the rotating pin (18) is perpendicular to the axis of the piston rod (11). The piston rod (11) is provided with a plurality of pin grooves (1101). The bottoms of the pin grooves (1101) are connected via spiral slide grooves (1103). The movement of the limiting piston (9) drives the driving piston (1) to press down the rotating pin (18), thereby driving the piston rod (11) to rotate at an angle.

2. The continuously rotatable hydraulically driven orienter according to claim 1, characterized in that: At least two annular grooves (101) are arranged in parallel on the outer side of the driving piston (1), a sealing ring (19) is embedded in the annular groove (101), a mounting hole (102) is penetrated through the side wall of the driving piston (1), and a cylindrical pin (17) is inserted into the mounting hole (102).

3. The continuously rotatable hydraulically driven orienter according to claim 2, characterized in that: A partition (701) is provided at the middle of the inner side of the housing (7), the partition (701) divides the housing (7) into a first chamber (702) and a second chamber (703), a through hole (704) is provided at the middle of the partition (701), the piston rod (11) is inserted into the through hole (704), the limit piston (9) is located in the first chamber (702), the lower side of the limit piston (9) abuts against the partition (701) via a return spring (4), the return spring (4) is sleeved on the outer side of the piston rod (11), the speed reduction mechanism (13), the coupling (15) and the output shaft (6) are located in the second chamber (703), and the speed reduction mechanism (13) is connected to the coupling (15) via a reducer (14).

4. The continuously rotatable hydraulically driven orienter according to claim 3 is characterized in that: A first mounting portion (705) and a second mounting portion (706) are respectively provided at the ends of the first chamber (702) and the second chamber (703); a non-rotating joint (8) is provided in the first mounting portion (705), and a bearing (16) is provided in the second mounting portion (706).

5. The continuously rotatable hydraulically driven orienter according to claim 1, characterized in that: Two first threaded holes (707) are symmetrically provided on the upper side of the housing (7), a limiting pin (10) is provided in the first threaded hole (707), the limiting piston (9) is connected to the housing (7) via the limiting pin (10), limiting grooves (901) are symmetrically provided on both sides of the limiting piston (9), and the limiting pin (10) is slidably arranged in the limiting grooves (901).

6. The continuously rotatable hydraulically driven orienter according to claim 3 is characterized by: A locking mechanism (12) is also provided on one side of the second chamber (703) close to the partition plate (701), and the locking mechanism (12) is used to lock the output shaft (6) through the piston rod (11).

7. The continuously rotatable hydraulically driven orienter according to claim 6, characterized in that: The piston rod (11) comprises a first rod body (1104) and a second rod body (1105), a plurality of pin grooves (1101) are arranged parallel to the axis direction on the outer side of the first rod body (1104), a spacer (1102) is arranged between two adjacent pin grooves (1101), and the widths of the pin grooves (1101) and the spiral groove (1103) respectively match the size of the rotating pin (18).

8. The continuously rotatable hydraulically driven orienter according to claim 7, characterized in that: The locking mechanism (12) comprises a fixing sleeve (1201) and a pawl (1203); a plurality of straight extension plates (1106) are provided along the circumferential direction on the outer side of the second rod body (1105); a slideway (1107) and a fixing groove (1108) are provided inside the straight extension plates (1106); a plurality of locking openings (1202) matching with the pawl (1203) are provided inside the fixing sleeve (1201); the pawl (1203) is located inside the slideway (1107); the pawl (1203) is connected to the second rod body (1105) via a support spring (20); and the support spring (20) is located inside the fixing groove (1108).

9. The continuously rotatable hydraulically driven orienter according to claim 7, characterized in that: A through hole (1701) is provided in the middle of the cylindrical pin (17), a second threaded hole (1702) is provided on the upper side of the through hole (1701), a boss (1801) is provided on the upper side of the rotating pin (18), the outer diameter of the boss (1801) is equal to that of the second threaded hole (1702), the rotating pin (18) is inserted into the through hole (1701), a pin (1703) is provided in the second threaded hole (1702), and the lower side of the pin (1703) abuts against the boss (1801).

10. The continuously rotatable hydraulically driven orienter according to claim 9, characterized in that: A hemispherical hole (1802) is provided at the top of the boss (1801), a contact head (1803) is provided at the bottom of the rotating pin (18), a docking port (1704) and a ball (1705) are provided at the top and bottom of the pin (1703), and the ball (1705) abuts against the hemispherical hole (1802); A plurality of sensing grooves (1109) corresponding to the bottom opening of the pin groove (1101) are provided on the center line of the spiral direction of the spiral groove (1103) in the spiral groove (1103), the sensing grooves (1109) and the contact head (1803) cooperate with each other, a magnetic block (1110) is provided on one side of the bottom opening of the pin groove (1101), and the magnetic block (1110) and the contact head (1803) are magnetically attracted.

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