CN110593795B - Mechanical arm type gas extraction hole sealing pipe salvaging device and use method - Google Patents
Mechanical arm type gas extraction hole sealing pipe salvaging device and use method Download PDFInfo
- Publication number
- CN110593795B CN110593795B CN201911044423.2A CN201911044423A CN110593795B CN 110593795 B CN110593795 B CN 110593795B CN 201911044423 A CN201911044423 A CN 201911044423A CN 110593795 B CN110593795 B CN 110593795B
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- pipe
- hose shell
- hole
- mechanical arm
- hose
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- 238000007789 sealing Methods 0.000 title claims abstract description 60
- 238000000605 extraction Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005553 drilling Methods 0.000 claims abstract description 19
- 210000003437 trachea Anatomy 0.000 claims description 4
- 238000009434 installation Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B31/00—Fishing for or freeing objects in boreholes or wells
- E21B31/12—Grappling tools, e.g. tongs or grabs
- E21B31/18—Grappling tools, e.g. tongs or grabs gripping externally, e.g. overshot
Abstract
The invention discloses a mechanical arm type gas extraction hole sealing pipe salvaging device and a using method thereof, wherein the salvaging device comprises a telescopic rod, one end of the telescopic rod, which is positioned deep in a drilling hole after being inserted into the drilling hole, is called a mounting end, the other end of the telescopic rod is called a free end, and left and right mechanical arms are symmetrically fixed on the left and right side walls of the outer side wall of the telescopic rod at the mounting end; the left mechanical arm comprises a left hose shell, a left air pipe, a left air bag, a left air hole, a left baffle plate and a left chain; the right mechanical arm comprises a right hose shell, a right air pipe, a right air bag, a right air hole, a right baffle plate and a right chain; after the left and right air bags are inflated, the left and right hose shells are bent to form a ring shape so as to encircle the hole sealing pipe in the drilled hole. According to the invention, the salvaging device can be used for effectively salvaging the hole sealing pipe falling into the gas extraction drilling hole, the fallen hole sealing pipe can be salvaged out at one time, the salvaging process is more flexible to operate, and the device can be repeatedly used and has a long service life.
Description
Technical Field
The invention belongs to the technical field of gas extraction, and particularly relates to a mechanical arm type gas extraction hole sealing pipe salvaging device and a using method thereof.
Background
In the gas extraction process, complicated operation is required, wherein fracture or hole sealing failure of the gas extraction pipe is unavoidable in the extraction process, and then a salvaging device is required to extract the bad hole packer or extraction pipe from the drill hole. At present, conventional fishing methods include a cone-taking method (namely a male cone or a female cone is used), a slip-fishing method, a buckling method and the like, but the methods are generally suitable for fishing falling objects with a specific tubular shape or structure such as a drill bit, a tubular product and the like, the use condition and the range are limited, the investment of a fishing tool is large, repeated operations are needed for a plurality of times during the fishing to succeed, and the problems of time waste, labor consumption and the like exist.
Disclosure of Invention
The invention provides a mechanical arm type gas extraction hole sealing pipe salvaging device which can effectively salvage a hole sealing pipe falling into a gas extraction drill hole, can salvage the falling hole sealing pipe at one time, is more flexible to operate in the salvaging process, can be repeatedly used and has a long service life.
In order to solve the technical problems, the invention adopts the following technical scheme:
the mechanical arm type gas extraction hole sealing pipe fishing device comprises a hollow telescopic rod which is inserted into a gas extraction drill hole, wherein one end of the telescopic rod, which is positioned deep in the drill hole after being inserted into the drill hole, is called a mounting end, the other end of the telescopic rod is called a free end, and left and right mechanical arms are symmetrically fixed on the outer side wall of the telescopic rod at the mounting end in a left-right symmetry manner; the left mechanical arm comprises a telescopic left hose shell, the right surface of the left hose shell is a vertical plane, the other surfaces of the left hose shell are in a wave shape, a main air pipe is arranged in the telescopic rod, a left air pipe is arranged in the left hose shell, the rear end of the left air pipe extends out of the rear end of the left hose shell and penetrates into the telescopic rod, the rear end of the left air pipe is communicated with the upper end of the main air pipe, a plurality of left air bags are sequentially distributed on the left air pipe in the left hose shell from front to back, each left air bag covers the left air pipe at the corresponding position, left air holes for inflating the corresponding left air bags are formed in the left air pipe at each left air bag, left baffle plates are sleeved and fixed on the left air pipe at the front end of the left air bag at the foremost end and left air pipe at the rear end of the left air bag at the rearmost end, left chains with the surfaces parallel to the right surface of the left hose shell are fixedly sleeved and connected with the left chains in the left hose shell; the right mechanical arm comprises a right hose shell, a right air pipe, a right air bag, a right air hole, a right baffle plate and a right chain, and the rear end of the right air pipe is communicated with the lower end of the main air pipe; after the left and right airbags are inflated, the left hose housing is bent to the left and right surfaces of the left hose housing, the right hose housing is bent to the left and right surfaces of the right hose housing, and the left and right hose housings are bent to form a ring shape so as to encircle the hole sealing pipe in the drilled hole.
Further, the center lines of the left hose shell and the right hose shell are respectively perpendicular to the center lines of the telescopic rods when the left air bag and the right air bag are not inflated.
Further, the left front end of the left hose housing is a left chamfer end, the left chamfer end forms a vertical left chamfer from the left rear end to the right front end, the right front end of the right hose housing is a right chamfer end, and the right chamfer end forms a vertical right chamfer from the right rear end to the left front end.
Further, a plurality of left air holes for inflating the corresponding left air bags are arranged on the left air pipe at each left air bag.
Further, each left baffle is vertically arranged, when the left air bag is not inflated and expanded, each left baffle is parallel to each other, each left baffle is perpendicular to the right surface of the left hose shell, the center line of the left hose shell is perpendicular to the left baffle, and the center line of the left air pipe is coincident with the center line of the left hose shell.
Further, the telescopic link comprises a plurality of hollow round platforms nested each other, and the lower extreme external diameter of upper portion inboard hollow round platform is greater than the upper end internal diameter of the adjacent outside hollow round platform of lower part to prevent the adjacent outside hollow round platform of lower part landing below the inside hollow round platform of upper portion, the up end of the hollow round platform of the top is sealed and the left and right robotic arms of symmetry is fixed with in the upper portion lateral wall left and right of the hollow round platform of the top.
Further, the rear end of the left hose shell is welded with the left part of the outer side wall of the upper part of the uppermost hollow round table, and the rear end of the right hose shell is welded with the right part of the outer side wall of the upper part of the uppermost hollow round table.
The application method of the mechanical arm type gas extraction hole sealing pipe salvaging device comprises the following steps:
(1) Judging the dropping range of the hole sealing pipe in the gas extraction drilling hole, and further adjusting the telescopic length of a telescopic rod of the mechanical arm type gas extraction hole sealing pipe fishing device;
(2) Slowly extending the mechanical arm type gas extraction hole sealing pipe fishing device into a gas extraction drill hole in a natural state, when the left mechanical arm and the right mechanical arm of the mechanical arm type gas extraction hole sealing pipe fishing device reach the falling position of the hole sealing pipe, introducing high-pressure gas into a main gas pipe at the free end of a telescopic rod, enabling the high-pressure gas to simultaneously enter the left gas pipe and the right gas pipe, enabling the high-pressure gas in the left gas pipe to enter corresponding left gas bags through the left gas holes, enabling the high-pressure gas in the right gas pipe to enter corresponding right gas bags through the right gas holes, enabling the left gas bags and the right gas bags to expand respectively, enabling the left hose shell to bend towards the right surface side of the left hose shell and the right hose shell to bend towards the left surface side of the right hose shell, and enabling the left hose shell to bend to form a ring shape so as to encircle the hole sealing pipe in the gas extraction drill hole;
(3) Continuously introducing high-pressure gas into the main gas pipe to increase the encircling force of the left and right hose shells on the hole sealing pipe, and then pulling out the telescopic rod outwards until the hole sealing pipe is pulled to the hole opening of the gas extraction drilling hole;
(4) And removing air pressure, loosening the opening hole pipes by the left hose shell and the right hose shell, and recovering the mechanical arm type gas extraction hole sealing pipe fishing device to be in place to wait for entering the next working cycle.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, when the salvaging device is used, the telescopic length of the telescopic rod is regulated according to the falling range of the sealing hole pipe in the gas extraction drilling hole, then the salvaging device is directly and slowly stretched into the gas extraction drilling hole in a natural state, when the left and right mechanical arms reach the falling position of the sealing hole pipe, high-pressure gas is introduced into the main gas pipe, and then each left air bag and each right air bag are respectively expanded, so that the left and right hose shells are bent to form a ring shape to encircle the sealing hole pipe in the gas extraction drilling hole, high-pressure gas is continuously introduced into the main gas pipe, so that the encircling force of the left and right hose shells on the sealing hole pipe is increased, then the telescopic rod is pulled out until the sealing hole pipe is pulled to the opening of the gas extraction drilling hole, then the air pressure is removed, and then the left and right hose shells loose the sealing hole pipe, and the salvaging device is restored to the original position to wait for entering the next working cycle, so that the salvaging device can effectively salvage the sealing hole pipe which falls into the gas extraction drilling hole, and the sealing hole pipe can be separated once, and the salvaging device is simple in use, and the salvaging device can be repeatedly used for a long term;
because the left hose shell and the right hose shell are telescopic, the fishing device is more flexible to operate in the fishing process;
because the left front end of the left hose shell is a left chamfer end, the left chamfer end forms a vertical left chamfer from the left rear end to the right front end, the right front end of the right hose shell is a right chamfer end, the right chamfer end forms a vertical right chamfer from the right rear end to the left front end, so that the left hose shell and the right hose shell can effectively reduce the friction force with the inner wall of a gas extraction drilling hole, and the left hose shell and the right hose shell are easier to fix a sealing hole pipe in the gas extraction drilling hole in an environment-friendly way.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 with the left hose cover omitted;
FIG. 3 is a schematic view of the structure of FIG. 2 in another direction;
FIG. 4 is a schematic view of the left and right hose shells of FIG. 1 bent to form a loop;
fig. 5 is an enlarged schematic view of the left hose housing, left air tube, left air bag, left baffle, left chain connection of fig. 2.
Description of the drawings: 1. the telescopic link, 2, the installation end, 3, the free end, 4, left hose housing, 5, main trachea, 6, left trachea, 7, left gasbag, 8, left baffle, 9, left chain, 10, right hose housing, 11, left chamfer, 12, right chamfer, 13, hollow round platform.
Detailed Description
As shown in fig. 1, 2, 3 and 4, the mechanical arm type gas extraction hole sealing pipe fishing device comprises a hollow telescopic rod 1 which is inserted into a gas extraction drill hole, wherein one end of the telescopic rod 1, which is positioned deep in the drill hole after being inserted into the drill hole, is called an installation end 2, the other end of the telescopic rod 1 is called a free end 3, and left and right mechanical arms are symmetrically fixed on the left and right side walls of the outer side wall of the telescopic rod 1 at the installation end 2; the left mechanical arm comprises a telescopic left hose shell 4, the right surface of the left hose shell 4 is a vertical plane, the rest surfaces of the left hose shell 4 are in a wave shape, a main air pipe 5 is arranged in the telescopic rod 1, a left air pipe 6 is arranged in the left hose shell 4, the rear end of the left air pipe 6 extends out of the rear end of the left hose shell 4, the rear end of the left air pipe 6 penetrates into the telescopic rod 1, the rear end of the left air pipe 6 is communicated with the upper end of the main air pipe 5, a plurality of left air bags 7 are sequentially distributed on the left air pipe 6 in the left hose shell 4 from front to back, each left air bag 7 wraps the left air pipe 6 at a corresponding position, a plurality of left air holes for inflating the corresponding left air bag 7 are formed in the left air pipe 6 at each left air bag 7, a left baffle 8 is sleeved and fixed on the air pipe between the adjacent left air bags 7, a left baffle 8 is fixedly sleeved on the left air pipe 6 at the front end of the left air bag 7 at the most front end, a left baffle 8 is fixedly sleeved on the left air pipe 6 at the rear end of the left air bag 7 at the most end, a left baffle 9 is fixedly connected with a left chain in parallel to the left surface 9 of the left hose shell 4 at the position close to the right surface of the left hose shell 4; the right mechanical arm comprises a right hose shell 10, a right air pipe, a right air bag, a right air hole, a right baffle plate and a right chain, and the rear end of the right air pipe is communicated with the lower end of the main air pipe 5; when the left and right air bags are not inflated, the central lines of the left and right hose shells 10 are respectively perpendicular to the central line of the telescopic rod 1, after the left and right air bags are inflated, the left hose shell 4 is bent towards the right surface side of the left hose shell 4, the right hose shell 10 is bent towards the left surface side of the right hose shell 10, and then the left and right hose shells 10 are bent to form a ring shape so as to encircle the hole sealing pipe in the drill hole.
Wherein, the left front end of left hose casing 4 is left chamfer end, left chamfer end department forms vertical left chamfer 11 from left rear end to right front end, the right front end of right hose casing 10 is right chamfer end, right chamfer end department forms vertical right chamfer 12 from right rear end to left front end, left and right hose casing 10 can effectively reduce the frictional force with gas drainage drilling inner wall like this, and left hose casing 4, right hose casing 10 are easier the environmental protection and are fixed the sealing tube in the gas drainage drilling.
Wherein, each left baffle 8 is all vertical setting, and when the inflation of left gasbag 7 did not inflate, each left baffle 8 is parallel to each other, and each left baffle 8 is even perpendicular with left hose cover 4 right surface to left hose cover 4 central line is perpendicular with left baffle 8, and left trachea 6 central line coincides with left hose cover 4 central line moreover.
The telescopic rod 1 is formed by nesting a plurality of hollow round tables 13, the outer diameter of the lower end of the upper inner side hollow round table 13 is larger than the inner diameter of the upper end of the lower adjacent outer side hollow round table 13 so as to prevent the lower adjacent outer side hollow round table 13 from sliding below the upper inner side hollow round table 13, the upper end face of the uppermost side hollow round table 13 is closed, and left and right mechanical arms are symmetrically fixed on the left and right side of the outer side wall of the upper part of the uppermost side hollow round table 13; the rear end of the left hose shell 4 is welded with the left part of the outer side wall of the upper part of the uppermost hollow round table 13, and the rear end of the right hose shell 10 is welded with the right part of the outer side wall of the upper part of the uppermost hollow round table 13.
The application method of the mechanical arm type gas extraction hole sealing pipe salvaging device comprises the following steps:
(1) Judging the dropping range of a hole sealing pipe in the gas extraction drilling hole, and further adjusting the telescopic length of a telescopic rod 1 of the mechanical arm type gas extraction hole sealing pipe fishing device;
(2) When the left mechanical arm and the right mechanical arm of the mechanical arm type gas extraction hole sealing pipe fishing device reach the falling position of the hole sealing pipe, high-pressure gas is introduced into the main gas pipe 5 at the free end 3 of the telescopic rod 1, the high-pressure gas simultaneously enters the left gas pipe 6 and the right gas pipe, the high-pressure gas in the left gas pipe 6 enters the corresponding left air bag 7 through each left air hole, the high-pressure gas in the right gas pipe enters the corresponding right air bag through each right air hole, and each left air bag 7 and each right air bag are respectively inflated, so that the left hose shell 4 bends towards the right surface side of the left hose shell 4, the right hose shell 10 bends towards the left surface side of the right hose shell 10, and the left hose shell 4 and the right hose shell 10 bend to form a ring shape so as to encircle the hole sealing pipe in the gas extraction hole sealing hole;
(3) Continuously introducing high-pressure gas into the main gas pipe 5 to increase the encircling force of the left hose shell 4 and the right hose shell 10 on the hole sealing pipe, and then pulling out the telescopic rod 1 until the hole sealing pipe is pulled to a gas extraction drilling hole opening;
(4) And the pneumatic pressure is removed, the left hose shell 4 and the right hose shell 10 loosen the hole opening pipe, and the mechanical arm type gas extraction hole sealing pipe salvaging device is restored to the original position to wait for entering the next working cycle.
Claims (5)
1. A mechanical arm type gas extraction hole sealing pipe fishing device is characterized in that: the gas extraction drill hole comprises a hollow telescopic rod which is inserted into the gas extraction drill hole, wherein one end of the telescopic rod, which is positioned deep in the drill hole after being inserted into the drill hole, is called a mounting end, the other end of the telescopic rod is called a free end, and left and right mechanical arms are symmetrically fixed on the left and right of the outer side wall of the telescopic rod at the mounting end; the left mechanical arm comprises a telescopic left hose shell, the right surface of the left hose shell is a vertical plane, the other surfaces of the left hose shell are in a wave shape, a main air pipe is arranged in the telescopic rod, a left air pipe is arranged in the left hose shell, the rear end of the left air pipe extends out of the rear end of the left hose shell and penetrates into the telescopic rod, the rear end of the left air pipe is communicated with the upper end of the main air pipe, a plurality of left air bags are sequentially distributed on the left air pipe in the left hose shell from front to back, each left air bag covers the left air pipe at the corresponding position, left air holes for inflating the corresponding left air bags are formed in the left air pipe at each left air bag, left baffle plates are sleeved and fixed on the left air pipe at the front end of the left air bag at the foremost end and left air pipe at the rear end of the left air bag at the rearmost end, left chains with the surfaces parallel to the right surface of the left hose shell are fixedly sleeved and connected with the left chains in the left hose shell; the right mechanical arm comprises a right hose shell, a right air pipe, a right air bag, a right air hole, a right baffle plate and a right chain, and the rear end of the right air pipe is communicated with the upper end of the main air pipe; after the left and right air bags are inflated and expanded, the left hose shell is bent towards the right surface side of the left hose shell, the right hose shell is bent towards the left surface side of the right hose shell, and then the left and right hose shells are bent to form a ring shape so as to encircle a hole sealing pipe in a drilling hole;
when the left and right air bags are not inflated, the central line of the left and right hose shells is vertical to the central line of the telescopic rod respectively;
the left front end of the left hose shell is a left chamfer end, a vertical left chamfer is formed from the left rear end to the right front end at the left chamfer end, the right front end of the right hose shell is a right chamfer end, and a vertical right chamfer is formed from the right rear end to the left front end at the right chamfer end;
all the left baffles are vertically arranged, when the left air bag is not inflated, all the left baffles are parallel to each other, all the left baffles are perpendicular to the right surface of the left hose shell, the center line of the left hose shell is perpendicular to the left baffles, and the center line of the left air pipe is coincident with the center line of the left hose shell.
2. The mechanical arm type gas extraction hole sealing pipe salvaging device is characterized in that: the left trachea at each left air bag is provided with a plurality of left air holes for inflating the corresponding left air bag.
3. The mechanical arm type gas extraction hole sealing pipe salvaging device is characterized in that: the telescopic link comprises a plurality of hollow round platforms nested each other, and the lower extreme external diameter of upper portion inboard hollow round platform is greater than the upper end internal diameter of the adjacent outside hollow round platform of lower part to prevent the adjacent outside hollow round platform of lower part landing below the inside hollow round platform of upper portion, the up end of the hollow round platform of the top is sealed and the left and right robotic arm of symmetry is fixed with in the left and right side of the upper portion lateral wall of the hollow round platform of the top.
4. The mechanical arm type gas extraction hole sealing pipe salvaging device according to claim 3, characterized in that: the rear end of the left hose shell is welded with the left part of the outer side wall of the upper part of the uppermost hollow round table, and the rear end of the right hose shell is welded with the right part of the outer side wall of the upper part of the uppermost hollow round table.
5. The method for using the mechanical arm type gas extraction hole sealing pipe salvaging device according to any one of claims 1 to 4, which is characterized by comprising the following steps:
(1) Judging the dropping range of the hole sealing pipe in the gas extraction drilling hole, and further adjusting the telescopic length of a telescopic rod of the mechanical arm type gas extraction hole sealing pipe fishing device;
(2) Slowly extending the mechanical arm type gas extraction hole sealing pipe fishing device into a gas extraction drill hole in a natural state, when the left mechanical arm and the right mechanical arm of the mechanical arm type gas extraction hole sealing pipe fishing device reach the falling position of the hole sealing pipe, introducing high-pressure gas into a main gas pipe at the free end of a telescopic rod, enabling the high-pressure gas to simultaneously enter the left gas pipe and the right gas pipe, enabling the high-pressure gas in the left gas pipe to enter corresponding left gas bags through the left gas holes, enabling the high-pressure gas in the right gas pipe to enter corresponding right gas bags through the right gas holes, enabling the left gas bags and the right gas bags to expand respectively, enabling the left hose shell to bend towards the right surface side of the left hose shell and the right hose shell to bend towards the left surface side of the right hose shell, and enabling the left hose shell to bend to form a ring shape so as to encircle the hole sealing pipe in the gas extraction drill hole;
(3) Continuously introducing high-pressure gas into the main gas pipe to increase the encircling force of the left and right hose shells on the hole sealing pipe, and then pulling out the telescopic rod outwards until the hole sealing pipe is pulled to the hole opening of the gas extraction drilling hole;
(4) And removing air pressure, loosening the opening hole pipes by the left hose shell and the right hose shell, and recovering the mechanical arm type gas extraction hole sealing pipe fishing device to be in place to wait for entering the next working cycle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911044423.2A CN110593795B (en) | 2019-10-30 | 2019-10-30 | Mechanical arm type gas extraction hole sealing pipe salvaging device and use method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911044423.2A CN110593795B (en) | 2019-10-30 | 2019-10-30 | Mechanical arm type gas extraction hole sealing pipe salvaging device and use method |
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| Publication Number | Publication Date |
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| CN110593795A CN110593795A (en) | 2019-12-20 |
| CN110593795B true CN110593795B (en) | 2024-03-15 |
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| CN201911044423.2A Active CN110593795B (en) | 2019-10-30 | 2019-10-30 | Mechanical arm type gas extraction hole sealing pipe salvaging device and use method |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111911106B (en) * | 2020-08-07 | 2022-09-20 | 盾构及掘进技术国家重点实验室 | Fishing device for taking out shallow drilling core and using method thereof |
| CN113681176B (en) * | 2021-09-01 | 2023-07-21 | 三丰管业有限公司 | Pipe fitting cutting machine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101401988A (en) * | 2008-07-20 | 2009-04-08 | 石力元 | Life saving apparatus for persons falling into well |
| CN205382215U (en) * | 2016-03-11 | 2016-07-13 | 柴小马 | Novel multi -functional overhead traveling crane of aluminium electroloysis drags for sediment device |
| CN105822244A (en) * | 2016-05-16 | 2016-08-03 | 陈晓新 | Electromagnetic grabbing device for picking up iron magnetic objects |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4595499B2 (en) * | 2004-03-23 | 2010-12-08 | タカタ株式会社 | Airbag device and airbag folding method |
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2019
- 2019-10-30 CN CN201911044423.2A patent/CN110593795B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101401988A (en) * | 2008-07-20 | 2009-04-08 | 石力元 | Life saving apparatus for persons falling into well |
| CN205382215U (en) * | 2016-03-11 | 2016-07-13 | 柴小马 | Novel multi -functional overhead traveling crane of aluminium electroloysis drags for sediment device |
| CN105822244A (en) * | 2016-05-16 | 2016-08-03 | 陈晓新 | Electromagnetic grabbing device for picking up iron magnetic objects |
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