Continuously rotatable hydraulically driven direction finder

Abstract

The present invention provides a continuously rotatable hydraulically driven direction finder, comprising a piston rod extending through the middle of a housing. The lower portion of the piston rod is connected to an output shaft via a reduction mechanism and a coupling. A driving piston and a limiting piston are sequentially sleeved on the outer portion of the upper portion of the piston rod. The driving piston is detachably provided with a cylindrical pin and a rotating pin. The axis of the rotating pin is perpendicular to the axis of the piston rod. The piston rod is provided with multiple pin slots, the bottoms of which are connected via spiral guide grooves. The movement of the limiting piston drives the driving piston downward to press the rotating pin, thereby driving the piston rod to rotate at an angle. The present invention has an ingenious design and a compact structure, can significantly improve the rotation accuracy of the direction finder, ensure continuous operation, and thus enhance drilling efficiency.

Description

Technical Field

[0001] The present 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. To control the wellbore trajectory, a directional drill is required to adjust the angle of the drill bit tool face. At present, the more mature hydraulically driven directional drills on the market are that when the pump is turned on, the drilling fluid flows from the directional drill 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 achieved. During this process, the pump needs to be continuously turned 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 describes 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 describes a directional device for continuous tubing drilling, which still has the above problems and is defective in use and needs improvement. Summary of the Invention

[0005] The present invention provides a continuously rotatable hydraulically driven orienter, which solves the problems of the orienter being unable to rotate continuously, complicated operation, large rotation angle of a single cycle and low precision, and limited overall service life.

[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, comprising 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 outer side of the upper part 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 slide 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, and sealing rings are embedded in the annular grooves. A mounting hole is penetrated through the side wall of the driving piston, and a cylindrical pin is inserted into the mounting hole.

[0008] In the preferred solution, a partition is provided in the middle of the inner side of the shell, which divides the shell into a first chamber and a second chamber. A through hole is provided in the middle 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 resting on 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 solution, two first threaded holes are symmetrically provided on the upper side of the shell, and a limit pin is provided in the first threaded hole. The limit piston is connected to the shell through the limit pin, and 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 a 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, and multiple 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 respectively match the size of the rotating pin.

[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 outside of the second rod body, a slide and a fixed groove are provided inside the straight extension plates, a plurality of locking openings matching the pawl are provided on the inside of the fixed sleeve, the pawl is located in the slide, 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 through 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 a preferred embodiment, a hemispherical hole is provided on the top of the boss, a contact head is provided on the lower part of the rotating pin, and a docking port and a ball are provided on the upper and lower parts of the pin respectively, and the ball rests in the hemispherical hole;

[0016] A plurality of induction grooves corresponding to the bottom openings of the pin grooves are provided on the center line of the spiral direction of the spiral groove. The induction grooves cooperate with the contact head. A magnetic block is provided on one side of the bottom opening of the pin groove. The magnetic block and the contact head are magnetically attracted.

[0017] 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, pushing the piston rod to rotate, and 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, and 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.

[0018] 1. This solution enables continuous rotation during the hydraulically driven orienter's rotational positioning process, eliminating the need to repeatedly cycle the pump on and off for angle adjustment, resulting in higher efficiency. Furthermore, repeated hydraulic shocks during use prevent fatigue and deformation of the reversing and locking mechanisms, extending the tool's service life.

[0019] 2. This solution has a two-stage positioning mechanism, which has 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, shortening the construction period and saving drilling costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings and examples:

[0021] Figure 1 This is a schematic diagram of the working state of the traditional director;

[0022] Figure 2 This is a schematic diagram of the reset state of the traditional director;

[0023] Figure 3 This is a schematic diagram of the overall structure of the present invention Figure 1 ;

[0024] Figure 4 yes Figure 3 Schematic top view of

[0025] Figure 5 yes Figure 4 AA section view;

[0026] Figure 6 This is a schematic diagram of the overall structure of the present invention Figure 2 ;

[0027] Figure 7 yes Figure 6 Schematic top view of

[0028] Figure 8 yes Figure 7 BB cross-sectional view;

[0029] Figure 9 It is a schematic diagram of the overall structure of the housing of the present invention;

[0030] Figure 10 yes Figure 9 Schematic top view of

[0031] Figure 11 yes Figure 10 CC sectional view;

[0032] Figure 12 The internal structure of the present invention Figure 1 ;

[0033] Figure 13 The internal structure of the present invention Figure 2 ;

[0034] Figure 14 The internal structure of the present invention Figure 3 ;

[0035] Figure 15 The internal structure of the present invention Figure 4 ;

[0036] Figure 16 yes Figure 12 Schematic diagram of the explosion structure Figure 1 ;

[0037] Figure 17 yes Figure 16 A magnified schematic diagram of point A;

[0038] Figure 18 yes Figure 12 Schematic diagram of the explosion structure Figure 2 ;

[0039] Figure 19 yes Figure 12 Schematic diagram of the explosion structure Figure 3 ;

[0040] Figure 20 This is a schematic diagram of the connection between the piston rod, cylindrical pin and rotating pin of the present invention;

[0041] Figure 21 yes Figure 20 An enlarged schematic diagram of point B;

[0042] Figure 22 This is a schematic diagram of the internal initial state of the present invention. Figure 1 ;

[0043] Figure 23 This is a schematic diagram of the internal initial state of the present invention. Figure 2 ;

[0044] Figure 24 This is a schematic diagram of the internal initial state of the present invention. Figure 3 ;

[0045] Figure 25 This is a schematic diagram of the internal initial state of the present invention. Figure 4 ;

[0046] Figure 26 is a schematic top view of the locking mechanism of the present invention;

[0047] Figure 27 is a schematic diagram of a rotating pin driving a piston rod according to the present invention;

[0048] Figure 28 yes Figure 27 Schematic diagram of the force analysis;

[0049] Figure 29 yes Figure 27 Schematic diagram of top view of force analysis;

[0050] Figure 30 The speed reduction mechanism of the present invention is shown in FIG. Figure 1 ;

[0051] Figure 31 The speed reduction mechanism of the present invention is shown in FIG. Figure 2 ;

[0052] Figure 32 This is a schematic diagram of the cylindrical pin connected to the rotating pin structure of the present invention;

[0053] Figure 33 yes Figure 32 Schematic diagram of the explosion structure.

[0054] 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; limit piston 9; limit groove 901; limit pin 10; piston rod 11; pin groove 1101; spacer 1102; spiral groove 1103; first rod body 1104; second rod body 110 5; straight plate 1106; slideway 1107; fixing groove 1108; sensing groove 1109; magnetic block 1110; locking mechanism 12; fixing sleeve 1201; locking port 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

[0055] like Figure 3-8In the invention, a continuously rotatable hydraulically driven direction finder includes a piston rod 11 passing through the middle of the outer shell 7. The lower part of the piston rod 11 is connected to the output shaft 6 through a reduction mechanism 13 and a coupling 15. The upper outer side of the piston rod 11 is sequentially sleeved with a driving piston 1 and a limiting piston 9. 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. A plurality of pin grooves 1101 are provided on the piston rod 11. The bottom of the pin groove 1101 is connected by a spiral slide groove 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.

[0056] like Figure 1-2 , is a schematic diagram of the working and reset states of a traditional orienter. However, the above-mentioned 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 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 this 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 very 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. The balance piston 5 is also subjected to a large impact under the action of the switching pump. Therefore, the overall service life of the orienter will be reduced.

[0057] In addition, because the existing hydraulically driven direction finder cannot rotate continuously, after multiple pump switching adjustments, the actual rotation angle does not reach or exceeds the target direction, causing deviations in the wellbore trajectory, extending the construction period and increasing drilling costs.

[0058] 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 passed through the reset spring 4, the drive piston 1 and the limit piston 9.

[0059] Next, the limiting piston 9 is limited by the cooperation of the limiting pin 10 and the housing 7. A 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. Finally, the non-rotating joint 8 is installed on the top of the housing 7. When the direction finder is reversing, the drilling fluid flows in through the hole between the non-rotating joint 8 and the limiting piston 9, generating 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 drive piston 1 within a limited stroke, and the drive piston 1 obtains a downward impact force, causing the cylindrical pin 17 in the drive piston 1 to move downward as a whole along with the drive piston 1. The rotating pin 18 provided at the end of the cylindrical pin 17 moves downward along with the drive 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. Then, after adjusting to the designed angle, it enters the pin groove 1101 for locking, preventing the piston rod 11 from rotating again.

[0060] In a preferred embodiment, at least two parallel annular grooves 101 are provided 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 .

[0061] 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 support base for the rotating pin 18, which is easy to adjust.

[0062] like Figure 9-11 In the preferred embodiment, a partition 701 is provided in the middle of the inner side of the outer shell 7, and the partition 701 divides the outer 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 passed through 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 the 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. The reduction mechanism 13 is connected to the coupling 15 through the reducer 14.

[0063] 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 planetary gears to improve the overall rotation accuracy.

[0064] In a preferred embodiment, 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 . The first mounting portion 705 is provided with a non-rotating joint 8 , and the second mounting portion 706 is provided with a bearing 16 .

[0065] 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.

[0066] In a preferred embodiment, 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.

[0067] 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.

[0068] The positioning accuracy of the orienter of this solution is 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 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 deceleration 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 this embodiment, the reduction mechanism 13 employs a planetary gear reducer, which can output the rotation angle of the piston rod 11 at 0.25 times its original value. Since the first-stage orientation angle of the transmission reversing design of the piston rod 11 can be changed by a minimum of 5°, the output orientation accuracy of the orienter can reach 1.25° through the secondary orientation of the reduction mechanism 13. After hydraulic pressure relief, the drive piston 1 moves upward under the action of the return spring 4. The rotating pin 18, driven by the drive piston 1, disengages the spiral groove 1103 and moves upward within the pin groove 1101 to the top of the wall. 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 differential of the orienter disappears, achieving reset. During this process, the locking mechanism 12 locks the output shaft 6, preventing the output shaft from rotating circumferentially and transmitting torque downward. A single operating cycle of the orienter includes one reversing operation and one reset operation. By cycling through multiple cycles, it can achieve orientation functions for multiple and small angles.

[0069] like Figure 12-24In the preferred embodiment, the piston rod 11 includes a first rod body 1104 and a second rod body 1105, and a plurality of pin grooves 1101 are arranged parallel to the axial direction on the outside of the first rod body 1104, and a spacer 1102 is provided between two adjacent pin grooves 1101, and the widths of the pin groove 1101 and the spiral groove 1103 respectively match the size of the rotating pin 18.

[0070] 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 spacer bars 1102 prevent the rotating pin 18 from circumferentially moving within the pin slot 1101, resulting in a good locking effect.

[0071] 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 provided on the outer side of the second rod body 1105. A slide 1107 and a fixed groove 1108 are provided inside the straight extension plate 1106. A plurality of locking openings 1202 that cooperate with the pawl 1203 are provided on the inner side of the fixed sleeve 1201. The pawl 1203 is located in the slide 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.

[0072] 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 direction device can be guaranteed to work stably and the unidirectional movement adjustment accuracy is high.

[0073] like Figures 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 that of 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.

[0074] The quick-install and disassembly structural design is convenient for production and manufacturing, and easy for later adjustment. At the same time, the boss 1801 can ensure that the rotating pin 18 can rotate during operation, thereby reducing friction during operation, ensuring smooth operation, efficient use, and also facilitating later maintenance.

[0075] In the preferred embodiment, a hemispherical hole 1802 is provided on the top of the boss 1801, a contact head 1803 is provided on the lower part of the rotating pin 18, and a docking port 1704 and a ball 1705 are provided on the upper and lower parts of the pin 1703 respectively, and the ball 1705 rests in the hemispherical hole 1802;

[0076] 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.

[0077] The cooperation of the ball 1705 and the hemispherical hole 1802 improves the overall alignment accuracy, ensures that the rotating pin 18 only rotates in the axial direction, and has high precision during rotation. At the same time, it can also slow down the increase in the matching clearance between the rotating pin 18 and the through hole 1701 due to long-term use. 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 sensing 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 to 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 mating surface. At the same time, in order to detect the rotating pin When 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 a slight change occurs and the ball 1705 drops suddenly, it means that it is entering the sensing groove 1109. When it reaches the lowest point, it has completely entered 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 it. At this time, the magnetic block 1110 set has a traction and attraction effect. The overall suction effect in the pin groove 1101 is good, the gear shifting is smooth, and the problem of mismatching and resulting in deviation of the rotation angle is avoided. The magnetic block 1110 adopts a permanent strong magnet, and the strong magnet is less than the elastic deformation force of the reset spring 4. Through the above arrangement, the stepped continuous rotation between the two adjacent pin grooves 1101 can be well completed. The design is ingenious and the use effect is good.

[0078] The above embodiments are merely preferred technical solutions of the present invention and should not be construed as limiting the present invention. The scope of protection of the present invention shall be the technical solutions set forth in the claims, including equivalent alternatives to the technical features of the technical solutions set forth in the claims. In other words, equivalent alternatives and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A continuously rotatable hydraulically driven orienter, characterized by: The invention comprises a piston rod (11) passing through the middle of the housing (7), the lower part of the piston rod (11) is connected to the output shaft (6) through 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 bottom of the pin grooves (1101) is connected through a spiral slide groove (1103), and the movement of the limiting piston (9) drives the driving piston (1) to press the rotating pin (18) downward, thereby driving the piston rod (11) to rotate at an angle; A through hole (1701) is provided through 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 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) abuts against the boss (1801); A hemispherical hole (1802) is provided on the top of the boss (1801), a contact head (1803) is provided on the lower portion of the rotating pin (18), and a docking port (1704) and a ball (1705) are provided on the upper and lower portions 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.

2. The continuously rotatable hydraulically driven direction finder according to claim 1, characterized in that: At least two annular grooves (101) are provided in parallel on the outer side of the driving piston (1), and a sealing ring (19) is embedded in the annular groove (101). A mounting hole (102) is provided 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 direction finder according to claim 2, characterized in that: A partition (701) is provided in the middle of the inner side of the housing (7), and the partition (701) separates the housing (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 passed through the through hole (704). The limiting piston (9) is located in the first chamber (702). The lower side of the limiting piston (9) is pressed against the partition (701) through a return spring (4), and the return spring (4) is sleeved on the outside 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) through a reducer (14).

4. The continuously rotatable hydraulically driven direction finder according to claim 3, 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 direction finder according to claim 1, characterized in that: Two first threaded holes (707) are symmetrically provided on the upper side of the housing (7), and a limiting pin (10) is provided in the first threaded hole (707). The limiting piston (9) is connected to the housing (7) through 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 provided in the limiting grooves (901).

6. The continuously rotatable hydraulically driven direction finder according to claim 3, characterized in that: 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).

7. The continuously rotatable hydraulically driven direction finder according to claim 6, characterized in that: 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 axis on the outside of the first rod body (1104). A spacer (1102) is provided between two adjacent pin grooves (1101). 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 direction finder according to claim 7, characterized in that: The locking mechanism (12) includes a fixing sleeve (1201) and a pawl (1203). A plurality of straight extension plates (1106) are provided on the outer side of the second rod body (1105) along the circumferential direction. A slideway (1107) and a fixing groove (1108) are provided inside the straight extension plates (1106). A plurality of locking openings (1202) that match the pawl (1203) are provided on the inner side of the fixing sleeve (1201). The pawl (1203) is located in the slideway (1107). The pawl (1203) is connected to the second rod body (1105) via a support spring (20). The support spring (20) is located in the fixing groove (1108).

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