CN214463888U

CN214463888U - Active turning and orienting mechanism in well

Info

Publication number: CN214463888U
Application number: CN202022054345.9U
Authority: CN
Inventors: 张聪; 高科; 谢晓波
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2020-09-18
Filing date: 2020-09-18
Publication date: 2021-10-22
Anticipated expiration: 2030-09-18

Abstract

An active turning and orienting mechanism in a well belongs to the technical field of oriented drilling, and comprises an orienting component and an active turning component, wherein the orienting function of the active turning component is realized by controlling a turning angle adjusting motor to drive an upper joint of an angle adjusting motor; the position change of the turning ribs is realized by controlling a turning motor to drive the turning joint to rotate, and the accurate change of the azimuth angle of the drill bit part connected with the upper limit and the lower limit of the turning ball head is realized by the symmetrically distributed two turning ribs which limit different pulling forces on the turning ball head; the utility model discloses can realize realizing that it can realize accurate direction through ground control system at the drilling in-process from the diversion direction drilling system of walking, the given development to the drilling technique provides new thinking and direction, has innovative meaning and meaning very great, and the application prospect is extremely wide.

Description

Active turning and orienting mechanism in well

Technical Field

The utility model belongs to the technical field of directional drilling, in particular to adaptation is in from the interior initiative diversion and the orienting device of well of diversion direction drilling system of walking.

Background

The underground torque self-balancing cabled drilling tool can fundamentally solve the problem of reaction torque harm caused by rotary drilling of a drill column, change the disturbance strength of one-way broken rocks of a drill bit on surrounding rocks, simplify ground drilling equipment, matched tools and process methods, and achieve the purposes of few accidents in a well, low drilling cost, low energy consumption, high drilling efficiency and the like, but can only realize vertical self-weight pressurizing feeding, cannot automatically pressurize and cannot directionally drill. Along with more and more complicated structure wells such as the current ultra-deep extended reach well, the directional well, the horizontal well, the ultra-thin oil layer horizontal well, the multi-branch well and the like, the requirement on the active steering capacity of the drilling tool is higher and higher.

At present, the research on the directional function of a drill-rod-free power drilling tool at home and abroad is less, and the patent numbers are as follows: 01130910.5, the technical proposal of the utility model named as 'reverse spiral double-drive special robot' can change the direction of a certain range of angles, but can only change the direction of the plane in which the steering engine rotates, thereby having great limitation; the underwater bionic mud arch robot researched by Zhang Ying, Wuhan theory university adopts the oil cylinder to perform direction change control, and although the direction change control can be realized by controlling the position of the annular oil cylinder, the underwater bionic mud arch robot has a complex structure and is not suitable for drilling geological rock cores with small calibers.

In view of the foregoing, there is a need for a small diameter mechanism for accurately guiding a drilling tool in a well.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an adaptation is in the well initiative diversion and the guiding mechanism in self-walking from diversion direction drilling system, and mainly used realizes that self-walking from diversion direction drilling system can carry out the purpose that the accuracy was led according to ground operating personnel's instruction at the drilling in-process.

The utility model discloses a realize that the technical scheme that above-mentioned purpose adopted is:

an active turning and orienting mechanism in a well comprises an orienting component and an active turning component, wherein the orienting component comprises a turning angle adjusting motor, an upper angle adjusting motor joint, a lower angle adjusting motor joint and an inner limit of an angle adjusting motor shaft protection thrust bearing;

the turning angle-adjusting motor is provided with a hollow channel, a plurality of through holes are formed around the hollow channel, and a rotor of the turning angle-adjusting motor is fixedly matched with an upper joint of the angle-adjusting motor; the upper joint of the angle adjusting motor is provided with a hollow channel, a plurality of through holes are arranged around the hollow channel, the outer side wall of the hollow channel is provided with a first annular step and a second annular step, the upper joint of the angle adjusting motor is provided with a thin opening end and a thick opening end, the thin opening end is fixedly matched with a rotor of the direction-changing angle adjusting motor, and the thick opening end is fixedly matched with a shell of the direction-changing motor; the lower joint of the angle modulation motor is a hollow pipe fitting, an upper inner annular step is fixedly matched with a shell of the direction-changing angle modulation motor, a lower inner annular step is in interference fit with an outer ring of a protection thrust bearing of a motor shaft of the angle modulation motor, and a lower outer annular step is fixedly matched with an outer limit of the protection thrust bearing of the motor shaft of the angle modulation motor; the inner ring of the angle modulation motor shaft protection thrust bearing is in interference fit with the first annular step of the angle modulation motor upper connector, and the outer ring of the angle modulation motor shaft protection thrust bearing is in interference fit with the lower annular step of the angle modulation motor lower connector; the inner limit of the angle modulation motor shaft protection thrust bearing is fixed on a first annular step of an upper joint of the angle modulation motor; the outer limit of the angle modulation motor shaft protection thrust bearing is fixed on an outer annular step at the lower part of a lower joint of the angle modulation motor; the structure of the turning motor is the same as that of the turning angle adjusting motor, and the description is omitted, the shell of the turning motor is fixedly matched with the thick end of an upper connector of the angle adjusting motor, and the rotor is fixedly matched with the thin end of the turning connector; the upper part of the turning motor joint is fixedly matched with the turning motor shell, a through hole is formed in the middle of the turning motor joint, the inner wall of the turning motor joint is in sliding contact fit with the outer wall of the turning joint in the circumferential direction, a pair of thin through holes are symmetrically distributed around the through hole in the middle, a pair of small through holes are symmetrically distributed at the position of 90 degrees in the circumferential direction of the thin through holes, and the small through holes are provided with inner platforms with holes and 90-degree arc tops; the diversion connects upper portion microcephaly end and the fixed cooperation of rotor of diversion motor, is provided with the annular step of unequal height on its lateral wall, and this annular step of unequal height includes: high I, low I, middle I, low II, high II, middle II and middle I;

the areas and shapes of the high-position I and low-position II, the high-position I and low-position I transition and low-position II and high-position II, the low-position I and middle-position II transition and high-position II and middle-position I and middle-position II and middle-position I and low-position II transition and middle-position II and high-position I transition are respectively the same, and the distances from the high-position I, low-position I, middle-position I, low-position II, high-position II and middle-position II to the lower surface are respectively H1, H2, H3, H4, H5 and H6, wherein the relationship among H1, H2, H3, H4, H5 and H6 is H1+ H4 + H2+ H5 + H3+ H6 ═ 2H3 ═ 2H 9, H1 ═ 5, H4 ═ 2H 82 2; the unequal-height annular step is always in close sliding fit with the outer plane I of the turning rib adjusting head; the turning rib adjusting head is provided with an inner through hole, the inner through hole is provided with an inner step, the outer wall is installed in a small through hole of the turning motor joint, axial limiting is carried out on an outer plane II and an inner platform of the turning motor joint, the outer plane I is always in close sliding fit with the annular step with unequal heights on the outer wall of the turning joint, the outer arc surface is a 90-degree arc surface, and limiting is carried out by the arc surface top of the turning motor joint; the direction-changing rib is a rigid rope and is provided with an upper joint and a lower joint; the thick end of the turning transition joint is fixedly matched with the turning motor joint, the thin end of the turning transition joint is fixedly matched with the cylindrical end of the turning ball head, a plurality of pairs of through holes are distributed around the hollow channel, and the upper surface of the turning transition joint is in sliding contact fit with the lower surface of the turning joint; the same-diameter spring rubber pipe is a hollow elastic rubber pipe, the upper part of the same-diameter spring rubber pipe is fixedly matched with the turning transition joint, the lower part of the same-diameter spring rubber pipe is fixedly matched with the upper limit of the turning ball head to protect the internal structure of the mechanism, and in addition, a plurality of annular grooves are formed in the outer side wall; the upper part of the turning ball head is a cylindrical end, the lower part of the turning ball head is a spherical end, the cylindrical end is fixedly matched with the narrow end of the turning transition joint, the spherical end of the lower part is provided with a pair of keys, and the lower surfaces of the keys and the spherical end are provided with a concentric arc surface; the turning ball head is limited with a hollow channel, a pair of first key grooves are distributed on the inner wall of the hollow channel, the bottom of the inner wall of the hollow channel is a spherical chamfer which is in sliding fit with the spherical surface of the turning ball head, a plurality of pairs of through holes are distributed around the hollow channel, and one pair of through holes are provided with steps; the lower limit upper part of the turning ball head is fixedly matched with the upper limit of the turning ball head, a hollow channel is arranged, the boundary of the upper part of the channel is a spherical chamfer concentric with the spherical end of the turning ball head, and a pair of second key grooves are arranged;

further, the outer diameters of the turning angle adjusting motor, the lower joint of the angle adjusting motor, the outer limit of the shaft protection thrust bearing of the angle adjusting motor, the upper joint of the angle adjusting motor, the turning motor, the joint of the turning motor, the turning transition joint, the same-diameter spring rubber pipe, the upper limit of the turning ball head and the lower limit of the turning ball head are the same;

furthermore, the turning angle-adjusting motor, the upper joint of the angle-adjusting motor, the turning joint, the turning transition joint, the turning ball head and the inner diameter of the hollow channel for lower limiting of the turning ball head are the same.

The utility model has the advantages that:

the utility model consists of an orientation component and an active turning component, the orientation function of the active turning component is realized by controlling a turning angle adjusting motor to drive an angle adjusting motor upper joint, and the coaxial 360-degree rotation of the mechanism can be realized because the turning angle adjusting motor is a servo motor; the position change of the turning ribs is realized by controlling a turning motor to drive the turning joint to rotate, and the accurate change of the azimuth angle of the drill bit part connected with the upper limit and the lower limit of the turning ball head is realized by the symmetrically distributed two turning ribs which limit different pulling forces on the turning ball head; the utility model discloses can realize realizing that it can realize accurate direction through ground control system at the drilling in-process from the diversion direction drilling system of walking, the given development to the drilling technique provides new thinking and direction, has innovative meaning and meaning very great, and the application prospect is extremely wide.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this application, and the exemplary embodiments and descriptions thereof are used to understand the invention without constituting undue limitations of the invention, in which:

fig. 1 is a schematic cross-sectional view of the assembly of the active direction changing and orienting mechanism in the well according to the present invention.

Fig. 2 is a schematic cross-sectional view of the middle turning angle-adjusting motor of the present invention.

Fig. 3 is a schematic cross-sectional view of the upper joint of the middle angle-adjusting motor of the present invention.

Fig. 4 is a schematic cross-sectional view of the lower joint of the middle angle-adjusting motor of the present invention;

fig. 5 is a top view of the direction-changing motor joint of the present invention.

Figure 6 is a cross-sectional view of the direction-changing motor coupling of figure 5 taken at a-a.

Fig. 7 is a left side view of the direction changing joint of the present invention.

Fig. 8 is a right side view of the direction changing joint of the present invention.

Fig. 9 is a schematic cross-sectional view of the middle turning rib adjusting head of the present invention.

Fig. 10 is a front view of the direction-changing rib of the present invention.

Fig. 11 is a schematic cross-sectional view of the direction-changing transition joint of the present invention.

Fig. 12 is a front view of the spring rubber hose with the same diameter of the present invention.

Fig. 13 is a bottom view of the direction-changing ball head of the present invention.

Fig. 14 is a schematic cross-sectional view of an upper limit of the middle turning ball of the present invention.

Fig. 15 is a schematic cross-sectional view of the lower limit of the middle turning ball head of the utility model.

Fig. 16 is a schematic cross-sectional view of the active direction changing assembly of the active direction changing and orienting mechanism in a well in a vertical drilling state according to the present invention.

Fig. 17 is a schematic cross-sectional view of the active direction changing assembly after clockwise direction changing of the active direction changing and orienting mechanism in the well.

Fig. 18 is a schematic cross-sectional view of the active direction changing assembly after counterclockwise direction changing of the active direction changing and orienting mechanism in the well according to the present invention.

Detailed Description

In order to explain the present invention more clearly, the present invention will be further described with reference to the preferred embodiments and the accompanying drawings. As will be appreciated by those skilled in the art. The following detailed description is intended to be illustrative rather than limiting, and is not intended to limit the scope of the invention. Well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present invention.

In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

As shown in fig. 1 to 15, the utility model provides an initiative diversion and orientation mechanism in well, constitute by directional component and initiative diversion component, directional component includes diversion angle modulation motor 1, angle modulation motor top connection 2, angle modulation motor lower clutch 3, spacing 4 in the angle modulation motor shaft protection thrust bearing, angle modulation motor shaft protection thrust bearing 5 and angle modulation motor shaft protection thrust bearing outer spacing 6, initiative diversion component includes diversion motor 7, diversion motor clutch 8, diversion clutch 9, diversion muscle adjusting head 10, diversion muscle 11, diversion transition joint 12, same-diameter spring rubber pipe 13, diversion bulb 14, diversion bulb upper spacing 15 and diversion bulb lower spacing 16;

the direction-changing angle-adjusting motor 1 is a servo motor and is provided with a hollow channel used for passing through corresponding matched slurry circulation equipment, a plurality of through holes 102 are formed around the hollow channel and used for passing through cables in a drilling tool, and a rotor 101 of the direction-changing angle-adjusting motor 1 is fixedly matched with an upper connector 2 of the angle-adjusting motor and is used for driving the rotation of the upper connector 2 of the angle-adjusting motor so as to drive the rotation of the whole active direction-changing assembly, so that the orientation function of the active direction-changing assembly is realized; the angle modulation motor upper joint 2 is provided with a hollow channel used for passing through corresponding matched slurry circulation equipment, a plurality of through holes 102 are arranged around the hollow channel and used for passing through cables in a drilling tool, a first annular step 201 and a second annular step 202 are arranged on the outer side wall of the hollow channel, the angle modulation motor upper joint 2 is provided with a thin opening end and a thick opening end for reducing connection, the thin opening end is fixedly matched with a rotor 101 of the direction-changing angle modulation motor 1, and the thick opening end is fixedly matched with a shell of the direction-changing motor 7; the lower joint 3 of the angle modulation motor is a hollow pipe fitting, an upper inner annular step 301 is fixedly matched with the shell of the direction-changing angle modulation motor 1, a lower inner annular step 302 is in interference fit with the outer ring of a protection thrust bearing 5 of a motor shaft of the angle modulation, and a lower outer annular step 303 is fixedly matched with the outer limit 6 of the protection thrust bearing of the motor shaft of the angle modulation; the inner ring of the angle modulation motor shaft protection thrust bearing 5 is in interference fit with the first annular step 201 of the angle modulation motor upper connector 2, the outer ring of the angle modulation motor shaft protection thrust bearing 5 is in interference fit with the lower inner annular step 302 of the angle modulation motor lower connector 3, and the angle modulation motor shaft protection thrust bearing 5 has the function of transmitting feeding pressure to the active steering assembly through the angle modulation motor shaft protection thrust bearing 5 and further transmitting the feeding pressure to a drill bit; the inner limit 4 of the angle modulation motor shaft protection thrust bearing is fixed on the first annular step 201 of the angle modulation motor upper connector 2 and is used for limiting the inner ring of the angle modulation motor shaft protection thrust bearing 5; the angle modulation motor shaft protection thrust bearing outer limit 6 is fixed on an outer annular step 303 at the lower part of the angle modulation motor lower joint 3 and is used for limiting the outer ring of the angle modulation motor shaft protection thrust bearing 5; the turning motor 7 is a servo motor, the structure of the turning motor is the same as that of the turning angle adjusting motor 1, and details are not repeated herein, the shell of the turning motor 7 is fixedly matched with the thick end of the angle adjusting motor upper connector 2, the rotor of the turning motor 7 is fixedly matched with the thin end of the turning connector 9, and the turning motor 7 is used for driving the turning connector 9 to rotate; the upper part of the turning motor joint 8 is fixedly matched with the shell of the turning motor 7, a through hole is formed in the middle of the turning motor joint 8, the inner wall of the turning motor joint 8 is in sliding contact fit with the outer wall of the turning joint 9 in the circumferential direction, a pair of thin through holes 801 are symmetrically distributed around the through hole in the middle of the turning motor joint 8 and used for symmetrically distributing a pair of small through holes 804 at 90-degree positions in the circumferential direction of the thin through holes 801 through cables in a drilling tool, the small through holes 804 are provided with an in-hole platform 803 and a 90-degree arc surface top 802, and the small through holes 804 are used for limiting the turning rib adjusting head 10 in the horizontal direction; the diversion connects 9 upper portion thin mouthful of end and diversion motor 7's rotor fixed coordination, is provided with the annular step of unequal height on its lateral wall, and this annular step of unequal height includes: the high-order I (901), the high-order I and low-order I transition (902), the low-order I (903), the low-order I and middle-order I transition (904), the middle-order I (905), the middle-order I and low-order II transition (906), the low-order II (907), the low-order II and high-order II transition (908), the high-order II (909), the high-order II and middle-order II transition (910), the middle-order II (911) and the middle-order II and high-order I transition (912);

the areas and shapes of the axial projections of the high-position I (901) and the low-position II (907), the high-position I and low-position I transition (902) and the low-position II and the high-position II (908), the low-position I (903) and the high-position II (909), the low-position I and medium-position I transition (904) and the high-position II and medium-position II transition (910), the medium-position I (905) and medium-position II (911), the medium-position I and low-position II transition (906) and the medium-position II and high-position I transition (912) along the direction change joint (9) are respectively the same, and the distances from the high-position I (901), the low-position I (903), the medium-position I (905), the low-position II (907), the high-position II (909) and the medium-position II (911) to the lower surface (913) are respectively H1, H2, H3, H4, H35 5 and H6, wherein the relations between H1, H3, H4, H5, H5, H3, H5926, H3, H5926H 3H 5926 and H5926H. The unequal-height annular step is always in close sliding fit with an outer plane I1001 of the turning rib adjusting head 10, and the effect of the unequal-height annular step is that the height of the turning rib adjusting head 10 is adjusted through the rotation of the turning joint 9; the turning rib adjusting head 10 is provided with an inner through hole 1006 used for passing through the turning rib 11, the inner through hole 1006 is provided with an inner step 1005 used for being fixedly matched with a connector 1101 on the upper portion of the turning rib 11, an outer wall 1004 is installed in a small through hole 804 of a turning motor connector 8, axial limiting is carried out on an outer plane II 1003 and an inner platform 803 of the turning motor connector 8, the outer plane I1001 is always closely matched with an annular step with unequal heights on the outer wall of the turning connector 9 in a sliding mode, an outer arc surface 1002 is a 90-degree arc surface, and limiting is carried out by an arc surface top 802 of the turning motor connector 8; the direction-changing rib 11 is a rigid rope, the material of the direction-changing rib can be a steel wire rope, and the like, and the direction-changing rib 11 is provided with an upper connector 1101 and a lower connector 1102; the thick opening end of the turning transition joint 12 is fixedly matched with the turning motor joint 8, the thin opening end of the turning transition joint 12 is fixedly matched with the cylindrical end of the turning ball head 14, the hollow channel is used for passing through corresponding matched slurry circulation equipment, a plurality of pairs of through holes 102 are distributed around the hollow channel, one pair of through holes 102 is used for passing through the turning rib 11, other through holes are used for passing through cables in the drilling tool, and the upper surface 1202 of the turning transition joint 12 is in sliding contact fit with the lower surface 913 of the turning joint 9; the same-diameter spring rubber pipe 13 is a hollow elastic rubber pipe, the upper part of the same-diameter spring rubber pipe 13 is fixedly matched with the turning transition joint 12, the lower part of the same-diameter spring rubber pipe 13 is fixedly matched with the turning ball head upper limit 15 to protect the internal structure of the mechanism, and in addition, the outer side wall of the same-diameter spring rubber pipe 13 is provided with a plurality of annular grooves 1301, so that the same-diameter spring rubber pipe 13 can be conveniently bent correspondingly when the active turning component is subjected to active turning; the upper part of the turning ball head 14 is a cylindrical end, the lower part of the turning ball head is a spherical end, the cylindrical end is fixedly matched with the narrow end of the turning transition joint 12, a hollow channel is used for passing through corresponding matched slurry circulation equipment, the spherical end at the lower part is provided with a pair of keys 1401, and the lower surfaces of the keys 1401 and the spherical end are provided with a concentric arc surface 1402; the upper limit 15 of the turning ball head is provided with a hollow channel for passing through the cylindrical end of the turning ball head 14, a pair of first keyways 1501 are distributed on the inner wall of the hollow channel, the bottom of the inner wall of the hollow channel is provided with a spherical chamfer 1503, the spherical chamfer 1503 is in sliding fit with the spherical surface of the turning ball head 14 for limiting the upper part of the turning ball head 14, a plurality of pairs of through holes are distributed around the hollow channel, one pair of through holes are provided with steps 1502 for fixedly matching with a joint 1102 at the lower part of the turning rib 11 and fixing the lower part of the turning rib 11, and other through holes are used for passing through cables in the drilling tool; the upper part of the turning ball head lower limit 16 is fixedly matched with the turning ball head upper limit 15, the turning ball head lower limit 16 is provided with a hollow channel for passing through corresponding matched slurry circulation equipment, the boundary of the upper part of the channel is a spherical chamfer 1503 concentric with the spherical end of the turning ball head 14, a pair of second keyways 1602 is arranged, and the turning ball head lower limit 16 is used for carrying out lower limit on the turning ball head 14;

fig. 16, fig. 17 and fig. 18 are respectively the utility model provides a working schematic diagram of the interior initiative diversion of well and guiding mechanism when the drilling tool needs to creep into perpendicularly, clockwise diversion creeps into in the cross-section and anticlockwise diversion creeps into in the cross-section, the utility model discloses a theory of operation and process:

vertical drilling: as shown in fig. 16, the position of the direction-changing joint 9 is adjusted by controlling the rotation of the direction-changing motor 7, so that the middle position i 905 step and the middle position ii 911 step of the direction-changing joint 9 are respectively in close contact with the outer plane i 1001 of the direction-changing rib adjusting head 10 on the left side and the right side, because the heights of the middle position i 905 step and the middle position ii 911 step are the same, the direction-changing ribs 11 on the two sides are equal in height, the upper limit 15 of the direction-changing ball head controlled by the direction-changing ribs 11 is kept horizontal, and at the moment, the drill bit part connected with the lower part is kept drilling vertically;

clockwise active turning drilling in the section: as shown in fig. 17, the position of the direction-changing joint 9 is adjusted by controlling the rotation of the direction-changing motor 7, so that the outer plane i 1001 of the direction-changing rib adjusting head 10 on the left is in close contact with the high position i 901 of the direction-changing joint 9, the outer arc 1002 of the direction-changing rib adjusting head 10 on the right is in close contact with the arc top 802 of the direction-changing motor joint 8, at this time, the direction-changing rib adjusting head 10 on the left is higher than the direction-changing rib adjusting head 10 on the right by h in the vertical direction, the pulling force of the direction-changing rib 11 on the direction-changing ball upper limit 15 causes the direction-changing ball upper limit 15 to change, due to the limit function among the key 1401 of the direction-changing ball head 14, the first key slot 1501 of the direction-changing ball upper limit 15 and the second key slot 1602 of the direction-changing ball lower limit 16, the direction-changing ball upper limit 15, the ball lower limit 16 and the drill bit part connected with the lower part can only change direction on the plane where the key 1401, that is, the cross section in fig. 17, the turning angle is theta, and the theta can be adjusted by adjusting the height difference h of the two turning rib adjusting heads 10;

and (3) anticlockwise actively turning and drilling in the section: as shown in fig. 18, the position of the turning joint 9 is adjusted by controlling the rotation of the turning motor 7, so that the outer plane i 1001 of the right turning rib adjusting head 10 is in close contact with the high position ii 909 of the turning joint 9, the outer arc 1002 of the left turning rib adjusting head 10 is in close contact with the arc top 802 of the turning motor joint 8, at this time, the right turning rib adjusting head 10 is higher than the left turning rib adjusting head 10 in the vertical direction by h, the following turning principle is similar to the clockwise turning principle in the cross section, and details are not repeated herein;

directional drilling: after the active turning and orienting mechanism in the well carries out active turning in the cross section, the rotation of the active turning component is realized by controlling the rotation of the turning angle adjusting motor 1 to drive the upper joint 2 of the angle adjusting motor to rotate, so that the active turning and orienting mechanism in the well carries out active turning on any cross section of 360 degrees in the circumferential direction, and finally the accurate oriented drilling of the active turning and orienting mechanism in the well is realized.

Claims

1. The utility model provides an initiative diversion and orienting mechanism in well which characterized in that: the angle modulation machine is composed of an orientation component and an active turning component, wherein the orientation component comprises a turning angle modulation motor (1), an angle modulation motor upper joint (2), an angle modulation motor lower joint (3), an angle modulation motor shaft protection thrust bearing inner limit (4), an angle modulation motor shaft protection thrust bearing (5) and an angle modulation motor shaft protection thrust bearing outer limit (6), and the active turning component comprises a turning motor (7), a turning motor joint (8), a turning joint (9), a turning rib adjusting head (10), a turning rib (11), a turning transition joint (12), a same-diameter spring rubber tube (13), a turning ball head (14), a turning ball head upper limit (15) and a turning ball head lower limit (16);

the direction-changing angle-adjusting motor (1) is provided with a hollow channel, a plurality of through holes (102) are formed around the hollow channel, and a rotor (101) of the direction-changing angle-adjusting motor (1) is fixedly matched with an upper connector (2) of the angle-adjusting motor; the angle modulation motor upper joint (2) is provided with a hollow channel, a plurality of through holes (102) are formed around the hollow channel, a first annular step (201) and a second annular step (202) are formed in the outer side wall of the hollow channel, the angle modulation motor upper joint (2) is provided with a thin-opening end and a thick-opening end, the thin-opening end is fixedly matched with a rotor (101) of the turning angle modulation motor (1), and the thick-opening end is fixedly matched with a shell of the turning motor (7); the angle modulation motor lower joint (3) is a hollow pipe fitting, an upper inner annular step (301) is fixedly matched with a shell of the direction-changing angle modulation motor (1), a lower inner annular step (302) is in interference fit with an outer ring of an angle modulation motor shaft protection thrust bearing (5), and a lower outer annular step (303) is fixedly matched with an angle modulation motor shaft protection thrust bearing outer limit (6); the inner ring of the angle modulation motor shaft protection thrust bearing (5) is in interference fit with a first annular step (201) of an angle modulation motor upper connector (2), and the outer ring of the angle modulation motor shaft protection thrust bearing (5) is in interference fit with an inner annular step (302) at the lower part of an angle modulation motor lower connector (3); the angle modulation motor shaft protection thrust bearing inner limit (4) is fixed on a first annular step (201) of an angle modulation motor upper joint (2); the angle modulation motor shaft protection thrust bearing outer limit (6) is fixed on an outer annular step (303) at the lower part of the angle modulation motor lower joint (3); the structure of the turning motor (7) is the same as that of the turning angle adjusting motor (1), the shell of the turning motor (7) is fixedly matched with the thick end of the angle adjusting motor upper connector (2), and the rotor of the turning motor (7) is fixedly matched with the thin end of the turning connector (9); the upper part of the turning motor joint (8) is fixedly matched with a shell of a turning motor (7), a through hole is formed in the middle of the turning motor joint (8), the inner wall of the turning motor joint (8) is in sliding contact fit with the outer wall of the turning joint (9) in the circumferential direction, a pair of thin through holes (801) are symmetrically distributed around the through hole in the middle of the turning motor joint (8), a pair of small through holes (804) are symmetrically distributed at 90-degree positions in the circumferential direction of the thin through holes (801), and the small through holes (804) are provided with inner hole platforms (803) and 90-degree arc surface tops (802); the thin opening end of the upper part of the turning joint (9) is fixedly matched with a rotor of a turning motor (7), an unequal-height annular step is arranged on the outer side wall of the turning joint (9), and the unequal-height annular step is always in close sliding fit with an outer plane I (1001) of the turning rib adjusting head (10); the turning rib adjusting head (10) is provided with an inner through hole (1006), the inner through hole (1006) is provided with an inner step (1005), the outer wall (1004) of the turning rib adjusting head (10) is installed in a small through hole (804) of the turning motor joint (8), axial limiting is carried out on an outer plane II (1003) and an inner platform (803) of the turning motor joint (8), the outer plane I (1001) is always in close sliding fit with the annular step with unequal heights on the outer wall of the turning joint (9), the outer arc surface (1002) is a 90-degree arc surface, and limiting is carried out by an arc surface top (802) of the turning motor joint (8); the direction-changing rib (11) is a rigid rope and is provided with an upper connector (1101) and a lower connector (1102); the thick opening end of the turning transition joint (12) is fixedly matched with the turning motor joint (8), the thin opening end of the turning transition joint is fixedly matched with the cylindrical end of the turning ball head (14), a plurality of pairs of through holes (102) are distributed around the hollow channel, and the upper surface (1202) of the turning transition joint is in sliding contact fit with the lower surface (913) of the turning joint (9); the same-diameter spring rubber pipe (13) is a hollow elastic rubber pipe, the upper part of the same-diameter spring rubber pipe is fixedly matched with the turning transition joint (12), the lower part of the same-diameter spring rubber pipe is fixedly matched with the turning ball head upper limit (15) to protect the internal structure of the same-diameter spring rubber pipe (13), and a plurality of annular grooves (1301) are formed in the outer side wall of the same-diameter spring rubber pipe (13); the upper part of the turning ball head (14) is a cylindrical end, the lower part of the turning ball head is a spherical end, the cylindrical end is fixedly matched with the thin-opening end of the turning transition joint (12), the spherical end of the lower part is provided with a pair of keys (1401), and the lower surfaces of the keys (1401) and the spherical end are provided with a concentric arc surface (1402); the upper limit (15) of the turning ball head is provided with a hollow channel, a pair of first key grooves (1501) are distributed on the inner wall of the hollow channel, the bottom of the inner wall of the hollow channel is provided with a spherical chamfer (1503), the spherical chamfer (1503) is in sliding fit with the spherical surface of the turning ball head (14), a plurality of pairs of through holes are distributed around the hollow channel, and one pair of through holes are provided with steps (1502); the upper portion of the turning ball head lower limit (16) is fixedly matched with the turning ball head upper limit (15), the turning ball head lower limit (16) is provided with a hollow channel, the upper boundary of the hollow channel is a spherical chamfer concentric with the spherical end of the turning ball head (14), and the turning ball head lower limit (16) is provided with a pair of second key grooves (1602).

2. The active steering and orienting mechanism of claim 1 in a well, wherein: the unequal-height annular step sequentially comprises a high I (901), a high I low I transition (902), a low I (903), a low I middle transition (904), a middle I (905), a middle I low II transition (906), a low II (907), a low II high II transition (908), a high II (909), a high II middle II transition (910), a middle II (911) and a middle II high I transition (912).

3. The active steering and orienting mechanism in a well of claim 2, wherein: the areas and shapes of the axial projections of the high-position I (901) and the low-position II (907), the high-position I and low-position I transition (902) and the low-position II and high-position II transition (908), the low-position I (903) and the high-position II (909), the low-position I and medium-position I transition (904) and the high-position II and medium-position II transition (910), the medium-position I (905) and medium-position II (911), the medium-position I and low-position II transition (906) and the medium-position II and high-position I transition (912) along the direction change joint (9) are respectively the same, and the distances from the high-position I (901), the low-position I (903), the medium-position I (905), the low-position II (907), the high-position II (909) and the medium-position II (911) to the lower surface (913) are respectively H1, H2, H3, H4, H5 and H6, wherein the relations between H2, H3, H4, H58 5 and H3, H5926 are respectively equal to H3, H5926, H3, H5926H 3, H598.

4. The active steering and orienting mechanism of claim 1 in a well, wherein: the outer diameters of the turning angle adjusting motor (1), the angle adjusting motor lower joint (3), the angle adjusting motor shaft protection thrust bearing outer limit (6), the angle adjusting motor upper joint (2), the turning motor (7), the turning motor joint (8), the turning transition joint (12), the same-diameter spring rubber pipe (13), the turning ball upper limit (15) and the turning ball lower limit (16) are the same.

5. The active steering and orienting mechanism of claim 1 in a well, wherein: the inner diameters of hollow channels of the turning angle adjusting motor (1), the angle adjusting motor upper joint (2), the turning motor (7), the turning joint (9), the turning transition joint (12), the turning ball head (14) and the turning ball head lower limit (16) are the same.