CN111504704B - Bionic robot fish for underwater sampling - Google Patents
Bionic robot fish for underwater sampling Download PDFInfo
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- CN111504704B CN111504704B CN202010344688.0A CN202010344688A CN111504704B CN 111504704 B CN111504704 B CN 111504704B CN 202010344688 A CN202010344688 A CN 202010344688A CN 111504704 B CN111504704 B CN 111504704B
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- 238000005070 sampling Methods 0.000 title claims abstract description 76
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 40
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 37
- 239000002689 soil Substances 0.000 claims abstract description 27
- 238000005527 soil sampling Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 210000001015 abdomen Anatomy 0.000 claims abstract description 7
- 238000007789 sealing Methods 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 14
- 230000003592 biomimetic effect Effects 0.000 claims description 9
- 239000000203 mixture Substances 0.000 claims description 9
- 238000000926 separation method Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000000903 blocking effect Effects 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N2001/1006—Dispersed solids
- G01N2001/1012—Suspensions
- G01N2001/1025—Liquid suspensions; Slurries; Mud; Sludge
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- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- General Physics & Mathematics (AREA)
- Biochemistry (AREA)
- Pathology (AREA)
- Immunology (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Hydrology & Water Resources (AREA)
- Mechanical Engineering (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a bionic robot fish for underwater sampling, which comprises a water and soil sampling component, a fish body, a tail power system and a head detection system, wherein the tail power system and the head detection system are arranged on the fish body; the water and soil sampling assembly comprises a mounting seat and a sampling bin, the mounting seat is fixed on the belly of the fish body, and the mounting seat adopts a power telescopic assembly to drive the sampling bin to be telescopically and slidably arranged in the mounting seat; the sampling bin adopts the rotary sampling assembly to sample and collect underwater soil bodies, can realize separate storage, and has good leakage-proof performance.
Description
Technical Field
The invention belongs to the technical field of underwater sampling, and particularly relates to a bionic robot fish for underwater sampling.
Background
With the research on the intelligent robot, various bionic robot products including a bionic robot bird, a bionic robot fish and the like appear in succession, wherein the bionic robot fish can be propelled by a fish body with a plurality of joints and a tail fin and has good maneuverability, so that the underwater detection research by utilizing the bionic robot fish is more advantageous.
And need sample to water and soil body under water in surveying the research under water, then move the sample to the laboratory and carry out the analysis chemical examination, in the sampling process, often can receive the water influence and produce the disturbance, lead to the sample to run off to current underwater sampling device only takes a sample through the scraper bowl, and its leakproofness is relatively poor, and the water and the soil body of gathering in addition can not separately be deposited.
Accordingly, those skilled in the art have provided a biomimetic robotic fish for underwater sampling to solve the problems set forth in the background art above.
Disclosure of Invention
In order to achieve the purpose, the invention provides the following technical scheme: a bionic robot fish for underwater sampling comprises a water and soil sampling assembly, a fish body, a tail power system and a head detection system, wherein the tail power system and the head detection system are arranged on the fish body, the tail power system can provide lifting and advancing power for the fish body,
the water and soil sampling assembly is embedded in the belly of the fish body;
the water and soil sampling assembly comprises a mounting seat and a sampling bin, the mounting seat is fixed on the belly of the fish body, and the mounting seat adopts a power telescopic assembly to drive the sampling bin to be telescopically and slidably arranged in the mounting seat;
the sampling bin adopts a rotary sampling assembly to sample and collect underwater soil.
Further, preferably, the rotary sampling assembly comprises a lifting bin, a first lifting helical blade, a second lifting helical blade and an embedded bin, wherein the lifting bin is detachably fixed on the inner wall of the bottom of the sampling bin in a threaded sealing manner, and the top of the lifting bin gradually shrinks and is coaxially and fixedly communicated with the embedded bin;
a first lifting helical blade is rotatably arranged in the lifting bin, a second lifting helical blade is rotatably arranged in the embedding bin, and the rotation of the first lifting helical blade and the second lifting helical blade can lift a water-soil mixture;
and the first lifting helical blade and the second lifting helical blade are driven to rotate by an external waterproof motor.
Further, preferably, the waterproof motor is fixed at the top of the sampling bin, the output end of the waterproof motor is connected with a connecting shaft by adopting a coupling and a reducer, the connecting shaft is rotatably arranged in the sampling bin, a rotating separation disc is coaxially fixed at the bottom of the connecting shaft, a reducing mounting shaft is coaxially detachably inserted at the bottom of the rotating separation disc, and the reducing mounting shaft extends along the axial direction of the reducing mounting shaft and extends out of the lifting bin;
the outer surfaces of the variable diameter mounting shafts positioned below the lifting bin and the lifting bin are provided with a first lifting helical blade;
and a second lifting helical blade is distributed at the joint of the lifting bin and the embedded bin and on the outer surface of the reducing mounting shaft embedded in the bin.
Further, preferably, the rotary dividing disc is arranged inside the sampling bin in a sealing and rotating mode;
a truncated cone-shaped filter screen is coaxially and fixedly connected below the rotary separating disc, and the lower part of the filter screen is detachably embedded into the rotary base;
the rotating base is rotatably arranged outside the embedded bin by adopting a sealing rotating bearing.
Further, preferably, the rotary separating disc, the filter screen, the rotary base, the lifting bin, the embedding bin and the sampling bin are jointly formed into a water body storage bin, and a drain valve is further arranged in the water body storage bin;
the rotary separating disc, the filter screen, the rotary base and the embedded bin are jointly constructed into a soil body storage bin.
Further, preferably, the filter screen comprises a support body and a net body, the net body is arranged on the support body, and the net body can enable a water body to pass through and can intercept a soil body;
an annular groove is formed in the circumference, close to the outer circumference, of the rotating base and used for being detachably embedded into the supporting body.
Further, as preferred, the power subassembly that stretches out and draws back includes drive gear and rack, drive gear is installed in symmetry and rotation on the mount pad, every drive gear drives by independent motor and rotates, just drive gear and rack mesh mutually, two the both sides in sampling storehouse are fixed to the rack symmetry.
Preferably, the gear rack further comprises auxiliary gears, the auxiliary gears are symmetrically arranged on the upper side and the lower side of the driving gear in a rotating mode, and the auxiliary gears are meshed with the gear rack.
Further, preferably, a sealing cover is further arranged at the opening at the top of the embedded bin;
threads are distributed on the outer surface of the variable-diameter mounting shaft in the soil body storage bin and are used for being in transmission connection with the sealing cover;
two guide rods are fixedly arranged inside the embedded bin, the two guide rods are connected with the sealing cover in a sliding mode, and a limiting rod is further transversely fixed at the end portion of the top end of each guide rod;
the rotation of drive reducing installation axle can make sealed lid seal the top of promotion storehouse or keep away from promote the storehouse.
Preferably, a horn-shaped blocking cover is coaxially fixed at the bottom of the lifting bin, and a plurality of auxiliary ground grabbing rods are arranged on the circumference of the bottom of the blocking cover in an array mode.
Compared with the prior art, the invention has the beneficial effects that:
1. in the sampling process, the water-soil mixture sequentially enters the lifting bin and the embedding bin through the lifting of the first lifting spiral blade and the second lifting spiral blade and then enters the soil body storage bin, and the water body enters the water body storage bin to realize separate sampling along with the centrifugal movement of the soil body storage bin;
2. in the sampling process, the lifting helical blade I and the lifting helical blade II can be driven to rotate along with the rotation of the reducing mounting shaft, so that a water body mixture is lifted, the reducing mounting shaft is in transmission connection with the sealing cover to form a screw nut pair structure, the sealing cover is driven to move upwards, the water body mixture can smoothly enter a soil body storage bin, and after sampling is finished, the reducing mounting shaft is driven by the waterproof motor to rotate reversely, so that the sealing cover seals a top opening of the lifting bin, and subsequent leakage is prevented;
3. the invention converts the rotation of the driving gear into the linear motion of the sampling bin, and the driving gears are arranged on both sides of the sampling bin, thereby improving the stability of the whole extension and retraction of the sampling bin, the power telescopic assembly further comprises auxiliary gears which are symmetrically arranged on the upper side and the lower side of the driving gear in a rotating mode, and the auxiliary gears are meshed with the racks, so that the telescopic stability of the sampling bin is further improved.
Drawings
FIG. 1 is a schematic perspective view of a biomimetic robotic fish for underwater sampling;
FIG. 2 is a schematic plan view of a biomimetic robotic fish for underwater sampling;
FIG. 3 is a first schematic structural diagram of a water and soil sampling assembly in a bionic robotic fish for underwater sampling;
FIG. 4 is a schematic structural diagram of a water and soil sampling assembly in a bionic robotic fish for underwater sampling;
in the figure: 1. a fish body; 2. a mounting seat; 3. a rack; 4. an auxiliary gear; 5. a drive gear; 6. sampling a bin; 7. a waterproof motor; 8. a connecting shaft; 9. rotating the divider disc; 10. filtering with a screen; 11. lifting the bin; 12. a shield cover; 13. lifting the first helical blade; 14. an auxiliary ground grabbing rod; 15. a drain valve; 16. a reducing installation shaft; 17. a guide rod; 18. a limiting rod; 19. rotating the base; 20. a sealing cover; 21. embedding into a bin; 22. a tail power system; 23. a head detection system; 24. and lifting the second spiral blade.
Detailed Description
Referring to fig. 1 to 4, in an embodiment of the present invention, a biomimetic robotic fish for underwater sampling includes a water and soil sampling assembly, a fish body 1, and a tail power system 22 and a head detection system 23 disposed on the fish body 1, wherein the tail power system 22 can provide power for the fish body 1 to move up and down and move forward, and the head detection system can detect obstacles to avoid the obstacles, and it should be noted that the tail power system and the head detection system are prior art, and therefore are not described herein again.
The water and soil sampling assembly is embedded in the abdomen of the fish body 1;
the water and soil sampling assembly comprises a mounting seat 2 and a sampling bin 6, the mounting seat 2 is fixed on the belly of the fish body 1, and the mounting seat 2 adopts a power telescopic assembly to drive the sampling bin 6 to be telescopically and slidably arranged in the mounting seat 2;
the sampling bin 6 adopts a rotary sampling assembly to sample and collect underwater soil.
In this embodiment, the rotary sampling assembly includes a lifting bin, a first lifting helical blade, a second lifting helical blade, and an embedded bin, wherein the lifting bin is detachably fixed on the inner wall of the bottom of the sampling bin in a threaded seal manner, the top of the lifting bin gradually shrinks and is coaxially and fixedly communicated with the embedded bin, that is, the diameter of the embedded bin 21 is smaller than the average diameter of the lifting bin 11, so as to improve the sampling rate;
the lifting spiral blade I is rotatably arranged in the lifting bin, the lifting spiral blade II is rotatably arranged in the embedding bin, the water and soil mixture can be lifted by the rotation of the lifting spiral blade I and the lifting spiral blade II, the diameter of the lifting spiral blade I is larger than that of the lifting spiral blade II, and the sampling power is further improved;
the first lifting helical blade 13 and the second lifting helical blade are driven to rotate by an external waterproof motor 7.
In the embodiment, the waterproof motor 7 is fixed at the top of the sampling bin 6, the output end of the waterproof motor 7 is connected with a connecting shaft 8 by adopting a coupler and a reducer, the connecting shaft 8 is rotatably arranged in the sampling bin 6, a rotary separating disc 9 is coaxially fixed at the bottom of the connecting shaft 8, a reducing mounting shaft 16 is coaxially detachably inserted at the bottom of the rotary separating disc 9, and the reducing mounting shaft extends along the axial direction of the reducing mounting shaft and extends out of the lifting bin 11;
the outer surfaces of the variable diameter mounting shafts positioned below the lifting bin 11 and the lifting bin 11 are provided with first lifting helical blades 13;
and a second lifting helical blade is distributed at the joint of the lifting bin and the embedding bin and on the outer surface of the reducing mounting shaft embedded in the bin.
As shown in fig. 3-4, the rotating dividing disk 9 is sealingly and rotatably arranged inside the sampling chamber 6;
a truncated cone-shaped filter screen 10 is coaxially and fixedly connected below the rotary separating disc 9, and the lower part of the filter screen 10 is detachably embedded in a rotary base 19;
the rotating base 19 is rotatably arranged outside the embedded bin 21 by adopting a sealed rotating bearing.
On the basis of the above embodiment, the rotary separating disc 9, the filter screen 10, the rotary base 19, the lifting bin 11, the embedding bin 21 and the sampling bin 6 together form a water body storage bin, and a drain valve 15 is further arranged in the water body storage bin;
the rotary separating disc 9, the filter screen 10, the rotary base 19 and the embedded bin 21 together form a soil body storage bin.
In this embodiment, the filter screen 10 includes a support body and a mesh body, the mesh body is disposed on the support body, and the mesh body can allow a water body to pass through and can intercept a soil body;
an annular groove is formed in the periphery of the rotating base 19 close to the outer side and used for detachably embedding the supporting body, namely, in the sampling process, the water-soil mixture sequentially enters the lifting bin 11 and the embedding bin 21 through lifting of the first lifting helical blade and the second lifting helical blade and then enters the soil body storage bin, and centrifugal motion is performed along with rotation of the soil body storage bin, so that the water body enters the water body storage bin, and separate sampling is realized.
In this embodiment, the flexible subassembly of power includes drive gear 5 and rack 3, drive gear 5 is installed in symmetry and rotation on the mount pad 2, every drive gear 5 drives by independent motor and rotates, just drive gear 5 meshes with rack 3 mutually, two the both sides at sampling storehouse 6 are fixed to 3 symmetries of rack, utilize drive gear 5's rotation to change into the linear motion of sampling storehouse 6, and the both sides of sampling storehouse 6 all are provided with drive gear, have improved its whole flexible stability.
In order to further improve the flexible stability of sampling storehouse 6, the flexible subassembly of power still includes auxiliary gear 4, and is a plurality of auxiliary gear 4 symmetry and commentaries on classics are laid in the upper and lower both sides of drive gear 5, just auxiliary gear 4 meshes with rack 3 mutually.
In this embodiment, a sealing cover 20 is further disposed at the top opening of the embedded bin 21;
the outer surface of the reducing installation shaft positioned in the soil body storage bin is provided with threads for being in transmission connection with the sealing cover 20;
two guide rods 17 are fixedly arranged inside the embedded bin 21, the two guide rods 17 are connected with a sealing cover 20 in a sliding manner, and a limiting rod 18 is further transversely fixed at the end part of the top end of each guide rod 17;
drive the rotation of reducing installation axle can make sealed lid 20 sealed promote the top of storehouse 11 or keep away from promote storehouse 11, that is to say, at the sampling process, along with the rotation of reducing installation axle, can drive the rotation that promotes helical blade 13 and promote helical blade two to promote the water mixture, and the reducing installation axle links to each other with sealed lid transmission again, constitutes screw-nut substructure, drives sealed lid rebound, makes the water mixture enter into soil body storehouse smoothly, after the sample, drive the reducing installation axle by waterproof motor and carry out reverse rotation, makes sealed lid seal the open-top of promotion storehouse 11 prevents subsequent leakage.
In this embodiment, the bottom of the lifting bin 11 is coaxially fixed with a trumpet-shaped separation cover 12, the bottom circumferential array of the separation cover 12 is provided with a plurality of auxiliary ground grabbing rods 14, preferably, the separation cover 12 is made of a rigid material, and the auxiliary ground grabbing rods 14 are arranged in a pairwise symmetrical inclined manner, and the inclined angle is 45 degrees.
After the sample is ended, reducing installation axle is pulled down from rotating divider disk 9 earlier, then twist and move reducing installation axle and make it separate with sealed lid 20, will reduce installation axle and promotion helical blade one afterwards, it dismantles to promote helical blade two, utilize flowing back valve 15 to collect the water afterwards, then twist and move promotion storehouse 11 and dismantle it from sampling storehouse 6, and rotating base 19 links to each other for pegging graft with filter screen 10, thereby make rotating base 19 break away from filter screen 10 along with the dismantlement in promotion storehouse, so that collect the soil body from the bottom in sampling storehouse 6.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (6)
1. A bionic robot fish for underwater sampling comprises a water and soil sampling assembly, a fish body, a tail power system and a head detection system, wherein the tail power system and the head detection system are arranged on the fish body, the tail power system can provide lifting and advancing power for the fish body,
the method is characterized in that: the water and soil sampling assembly is embedded in the belly of the fish body;
the water and soil sampling assembly comprises a mounting seat and a sampling bin, the mounting seat is fixed on the belly of the fish body, and the mounting seat adopts a power telescopic assembly to drive the sampling bin to be telescopically and slidably arranged in the mounting seat;
the sampling bin adopts a rotary sampling assembly to sample and collect the underwater soil body;
the rotary sampling assembly comprises a lifting bin, a first lifting spiral blade, a second lifting spiral blade and an embedded bin, wherein the lifting bin is detachably fixed on the inner wall of the bottom of the sampling bin in a threaded sealing manner, and the top of the lifting bin gradually shrinks and is coaxially and fixedly communicated with the embedded bin;
a first lifting helical blade is rotatably arranged in the lifting bin, a second lifting helical blade is rotatably arranged in the embedding bin, and the rotation of the first lifting helical blade and the second lifting helical blade can lift a water-soil mixture;
the first lifting helical blade and the second lifting helical blade are driven to rotate by an external waterproof motor;
the waterproof motor is fixed to the top of the sampling bin, the output end of the waterproof motor is connected with a connecting shaft through a coupler and a speed reducer, the connecting shaft is rotatably arranged in the sampling bin, a rotating separation disc is coaxially fixed to the bottom of the connecting shaft, a reducing installation shaft is coaxially detachably inserted into the bottom of the rotating separation disc, and the reducing installation shaft extends along the axial direction of the reducing installation shaft and extends out of the lifting bin;
a first lifting helical blade is distributed on the outer surface of the reducing mounting shaft positioned below the lifting bin and the lifting bin;
a second lifting helical blade is distributed at the joint of the lifting bin and the embedded bin and on the outer surface of the reducing mounting shaft embedded in the bin;
the rotary separating disc is arranged in the sampling bin in a sealing and rotating mode;
a round table-shaped filter screen is coaxially and fixedly connected below the rotary separating disc, and the lower part of the filter screen is detachably embedded into the rotary base;
the rotating base is rotatably arranged outside the embedded bin by adopting a sealed rotating bearing;
the power telescopic assembly comprises a driving gear and a rack, the mounting seat is symmetrically and rotatably provided with the driving gear, and each driving gear is driven by an independent motor to rotate and is meshed with the driving gear and the rack, and the racks are symmetrically fixed on two sides of the sampling bin.
2. The biomimetic robotic fish for underwater sampling according to claim 1, wherein: the rotary separation disc, the filter screen, the rotary base, the lifting bin, the embedding bin and the sampling bin are jointly formed into a water body storage bin, and a drain valve is further arranged in the water body storage bin;
the rotary separating disc, the filter screen, the rotary base and the embedded bin are jointly constructed into a soil body storage bin.
3. The biomimetic robotic fish for underwater sampling of claim 1, wherein: the filter screen comprises a support body and a net body, wherein the net body is arranged on the support body and can enable a water body to pass through and intercept a soil body;
an annular groove is formed in the circumference, close to the outer circumference, of the rotating base and used for being detachably embedded into the supporting body.
4. The biomimetic robotic fish for underwater sampling according to claim 1, wherein: the auxiliary gear is symmetrically arranged on the upper side and the lower side of the driving gear in a rotating mode, and the auxiliary gear is meshed with the rack.
5. The biomimetic robotic fish for underwater sampling of claim 2, wherein: a sealing cover is further arranged at the opening at the top of the embedded bin;
threads are distributed on the outer surface of the variable-diameter mounting shaft in the soil body storage bin and are used for being in transmission connection with the sealing cover;
two guide rods are fixed inside the embedded bin, the two guide rods are connected with the sealing cover in a sliding mode, and a limiting rod is further transversely fixed at the end portion of the top end of each guide rod;
the rotation of drive reducing installation axle can make sealed lid seal the top of promotion storehouse or keep away from promote the storehouse.
6. The biomimetic robotic fish for underwater sampling of claim 1, wherein: the bottom of the lifting bin is coaxially fixed with a horn-shaped blocking cover, and a plurality of auxiliary ground grabbing rods are arranged on the bottom circumference array of the blocking cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010344688.0A CN111504704B (en) | 2020-04-27 | 2020-04-27 | Bionic robot fish for underwater sampling |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010344688.0A CN111504704B (en) | 2020-04-27 | 2020-04-27 | Bionic robot fish for underwater sampling |
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| CN111504704B true CN111504704B (en) | 2022-12-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112441199A (en) * | 2020-10-28 | 2021-03-05 | 武汉理航结构安全技术有限公司 | Deeply buried tunnel detects with retractable wall adsorption equipment under water |
| CN113277049B (en) * | 2021-06-25 | 2022-09-23 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
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|---|---|---|---|---|
| CN2738233Y (en) * | 2004-09-18 | 2005-11-02 | 徐州市三原技术产业有限公司 | Low breakage rate coke screw sampler |
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| CN111504704A (en) | 2020-08-07 |
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