CN204302048U - Underwater sediment(s) sampling robot - Google Patents
Underwater sediment(s) sampling robot Download PDFInfo
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- CN204302048U CN204302048U CN201420801422.4U CN201420801422U CN204302048U CN 204302048 U CN204302048 U CN 204302048U CN 201420801422 U CN201420801422 U CN 201420801422U CN 204302048 U CN204302048 U CN 204302048U
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Abstract
The utility model provides a kind of underwater sediment(s) sampling robot, the propeller comprising main cabin body and be arranged on the body of main cabin and sampler, described main cabin body is also provided with balancing weight and gas cylinder, it is external that described gas cylinder is positioned at main cabin, and this gas cylinder is provided with air bleeding valve, and described balancing weight is arranged on body bottom, main cabin, and the position of centre of gravity of close main cabin body, described gas cylinder is arranged on main cabin body top outer, and described air bleeding valve is arranged on gas cylinder top, is also provided with water intaking valve bottom described gas cylinder.The utility model is controlled to find optimum sampling position by operating personnel under realizing neutral buoyancy state, and it is closed to realize undisturbed sampling functions sampling pipe by change net buoyancy, by the flow controlling air bleeding valve and water intaking valve, device is maintained horizontal attitude, and be convenient to regulate posture by water intaking valve.
Description
Technical field
The utility model belongs to substrate sludge sampling technical field, particularly a kind of underwater sediment(s) sampling robot.
Background technology
In environmental monitoring, in the processes such as scientific research, gather river, lake, reservoir, the sampler of the deposit bed mud of the water bodys such as ocean, tube sampler is widely applied, these samplers are rendered in water by operating personnel from lash ship, self gravitation is relied on to sink under water and insert in deposit by sampling pipe, then the water surface is retracted by operating personnel, because these samplers do not possess self-movement regulating power, affect larger by the impact of current in sinking watching, the position of therefore sampling is random, be difficult to obtain satisfied sampled result, therefore power is sampled into not high.
The event that underwater sediment(s) gathers, destroying situation to the disturbance of the sample collected, is the important indicator of an evaluation sampler quality.For the sample of not disturbance collection as far as possible, adopting static pressure mode to realize sampling process becomes main stream approach.And static pressure sampling needs larger initial pressure, existing sampler, be that the mode by strengthening sampler own wt obtains initial pressure; And the motion of underwater robot, need underwater robot to keep neutral buoyancy state, both are conflicting as far as possible, and therefore, realizing static pressure sampling by underwater robot is difficult point in the industry.
Utility model content
The deficiencies in the prior art in view of the above, the purpose of this utility model is to provide a kind of underwater sediment(s) sampling robot, can realize keeping neutral buoyancy state when robot moves under water, for sampling operation provides enough pressure under the prerequisite realizing sampling, effectively can avoid the sedimental destruction of sampling again.
For achieving the above object and other relevant objects, a kind of underwater sediment(s) sampling robot, comprises main cabin body and the propeller that is arranged on the body of main cabin and sampler, described main cabin body is also provided with balancing weight and gas cylinder, it is external that described gas cylinder is positioned at main cabin, and this gas cylinder is provided with air bleeding valve.
Adopt said structure, sampler is when declining, adopt unpowered mode, utilize static pressure principle, behind the sampler contact bottom, the net buoyancy straight down relying on described gas cylinder to be vented generation is inserted in deposit, when robot motion, balancing weight plays counteracting buoyancy, the effect maintaining main cabin body balance makes it be tending towards horizontal suspended state, due to device employing is the mode that exhaust slowly declines, and fall off rate can by the capacity of air bleeding valve and speeds control, deposit can be protected to greatest extent in the sedimental process of insertion, can be controlled to find optimum sampling position by operating personnel under neutral buoyancy state, and realize undisturbed sampling by changing net buoyancy, thus obtain the most original sample.
Described balancing weight is arranged on body bottom, main cabin, and the position of centre of gravity of close main cabin body, described gas cylinder is arranged on main cabin body top outer, and described air bleeding valve is arranged on gas cylinder top, is also provided with water intaking valve bottom described gas cylinder.
Balancing weight is portion on the lower, makes the center of gravity of device near bottom, and be easy to make device maintain horizontal attitude, balancing weight can be lead etc., sets up water intaking valve, and the water inlet when being vented, plays the effect of balance and governing speed further.
Described air bleeding valve and water intaking valve are two, and respectively near gas cylinder rear and front end, this air bleeding valve and water intaking valve are controlled separately by controller.4 valves are controlled separately by controller, can regulate flow velocity and flow respectively when exhaust water inlet.
Be provided with dividing plate in the middle part of described gas cylinder, gas cylinder inner chamber is divided into front and back two parts by this dividing plate, and the volume of front and back two parts cavity is identical, and front and back two parts cavity is equipped with an air bleeding valve and a water intaking valve.By controlling the flow of air bleeding valve and water intaking valve, two-part inflow in gas cylinder can be regulated.Thus the position of centre of gravity of modifier, change in resistance during to adapt to sample suffered by sampling pipe.
Also comprise cable, described cable is connected to sampler top, described main cabin body is provided with attitude transducer, camera and sonar sealedly, described camera is 2, one is horizontally disposed with, and another is arranged down, and described sonar downward, described cable and attitude transducer, camera and sonar communicate to connect, and carry out data transmission.
Described sampler comprises, comprise sampling pipe, connecting ring is disposed with from top to bottom above described sampling pipe, fixed cover, clamping body and sampling pipe upper cover, connecting ring is connected with described main cabin body, fixed cover is connected with connecting ring by fixed block, slip mandrel is provided with in fixed cover, described cable is connected to slip mandrel upper end, described slip mandrel bottom is provided with the execution block coordinated with clamping body, described clamping body coordinates with the Access Division that sampling pipe covers, described sampling pipe Upper vertical is provided with the axis of guide, sampling pipe upper cover is enclosed within this axis of guide, and can move up and down along the axis of guide, extension spring is provided with between sampling pipe upper cover and sampling pipe.
During initial samples, sampling pipe upper cover to be locked in the position above sampling pipe by Access Division by clamping body, after sampling completes, by wireline operations slip mandrel can be pulled, realize the unblock of clamping body, sampling pipe upper cover is unclamped by clamping body, and sampling pipe upper cover moves down along the axis of guide under extension spring and Action of Gravity Field, and cover in sampling pipe upper end, sampling pipe is closed.In this closed process, owing to being provided with the axis of guide therefore, it is possible to realize accurately aiming at, there will not be bad sealing to have the situation in gap, by the pulling force of extension spring, sampling pipe upper cover is strained further, ensure sealing effectiveness, operation clamping body can realize the clamping of sampling pipe upper cover and unclamp.
Described Access Division is the clamping block being fixed on sampling pipe upper cover upper surface, this clamping block side opening is provided with multiple buckling groove, described clamping body comprises the slide block being vertically arranged on fixed cover side and the clamping joint being connected to slide block lower end, clamping joint is towards described fixed cover, contiguous block is provided with inside slide block, described fixed cover bottom outer wall is provided with torsion spring frame, described contiguous block and torsion spring frame wear connection by bearing pin, on this bearing pin, also cover has torsion spring, this one end is against on fixed cover outer wall, and the other end is against contiguous block bottom.
Described slip mandrel is slidably mounted in fixed cover, and fixed cover outer wall offers many guide grooves vertically, and described fixed cover overcoat has installing ring, and described execution block is arranged on installing ring by backing pin, and this backing pin is fixed through installing ring and slip mandrel.Described execution block bottom is against inside slide block, and clamping joint is remained in buckling groove.
During sampling, execution block outwards pulls slide block top, its clamping joint is stretched in buckling groove sampling pipe upper cover is locked, when sampling complete need closed, by cable pull-up slip mandrel, execution block and slide block depart from, slide block is under torsion spring twisting force, clamping joint rotates and exits buckling groove, and discharged by sampling pipe upper cover, sampling pipe upper cover has moved down closed.
Described slip mandrel top offers spacing groove vertically, this spacing groove is positioned at above executive item, laterally spacer pin is provided with in described spacing groove, spacer pin two ends pass described fixed cover sidewall, also comprise sampling pipe lower cover and swinging mounting, hinged in the middle part of this swinging mounting first end and sampling pipe, second end installs described sampling pipe lower cover, second end of this swinging mounting is horizontally disposed with limited location block, this limited block is provided with hole clipping, described in one of them, the clamping joint of slide block stretches in hole clipping, is locked by described swinging mounting.
By spacer pin limit slippage mandrel moving range in fixed cover; To unclamp principle identical with the clamping of sampling pipe upper cover, when sampling, clamping joint stretches in hole clipping and swinging mounting is fixed on top, after sampling completes, when pulling slip mandrel, slide block makes clamping joint exit hole clipping equally, is discharged by limited block, and swinging mounting drives sampling pipe lower cover to rotate under gravity and closed to sampling pipe bottom.
Described sampler is arranged on body bottom, main cabin, and downward, described balancing weight is arranged on the both sides of sampler to this sampler symmetrically.Described balancing weight is completely symmetrically installed on the both sides of sampler, makes sampling apparatus be easy to maintain horizontal attitude.
As mentioned above, the beneficial effects of the utility model are: 1, this structure is controlled to find optimum sampling position by operating personnel under realizing neutral buoyancy state, and it is closed to realize undisturbed sampling functions sampling pipe by change net buoyancy.Device is maintained horizontal attitude by the flow 2, by controlling air bleeding valve and water intaking valve, and is convenient to regulate posture by water intaking valve.3, sampling pipe upper cover is aimed at the accurate of sampling pipe upper end, and the sealing effectiveness both being ensured by tension spring tension, there will not be that traditional articulated manner is poorly sealed causes the failed situation of sampling, easy to operate.4, can realize the synchronous sealed of sampling pipe lower cover, prevent in the up process of sampler, in sampling pipe, deposit drops out, and ensure that carrying out smoothly of sampling simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model embodiment;
Fig. 2 is the schematic internal view of main cabin body in the utility model embodiment;
Fig. 3 is the schematic internal view of gas cylinder in the utility model embodiment;
Fig. 4 is the structural representation of sampler in the utility model embodiment;
Fig. 5 is the stereogram of sampler in the utility model embodiment.
Piece mark explanation
1 main cabin body; 11 attitude transducers; 12; Camera 13; Sonar; 2 propellers;
3 gas cylinders; 31 air bleeding valves; 32 water intaking valves; 33 dividing plates;
4 samplers; 41 sampling pipes; 42 sampling pipe upper covers; 43 sampling pipe lower covers; 44 axis of guides; 45 extension springs; 46 slide blocks; 47 torsion spring framves; 48 torsion springs, 49 backing pins; 410 slip mandrels; 411 spacer pins; 412 fixed covers; 413 fixed blocks; 414 connecting rings; 415 spacing grooves; 416 guide grooves; 417 swinging mountings; 418 limited blocks; 419 support rings; 420 installing rings; 421 clamping blocks; 422 execution blocks;
5 balancing weights; 6 cables.
Detailed description of the invention
By particular specific embodiment, embodiment of the present utility model is described below, person skilled in the art scholar the content disclosed by this description can understand other advantages of the present utility model and effect easily.
As shown in Figure 1, the utility model provides a kind of underwater sediment(s) sampling robot, comprises main cabin body 1, propeller 2, gas cylinder 3, sampler 4, balancing weight 5 and cable 6, sampler 4 is arranged on body 1 bottom, main cabin, and balancing weight 5 is installed on sampler 4, and cable 6 is connected to the top of sampler 4, described balancing weight 5 is lead, completely symmetrically be installed on the both sides of sampler 4, make the center of gravity of sampling apparatus near bottom, be easy to make employing device maintain horizontal attitude.
As shown in Figure 2, in main cabin body 1, being equipped with attitude transducer 11,2 cameras 12, sonars 13 completely hermetically, for monitoring the attitude and environment around that adopt device, by cable 6, the data of collection being passed to operating personnel.
Further as shown in Figure 3, described gas cylinder 3 is arranged on main cabin body 1 outside top, gas cylinder 3 top is provided with 2 air bleeding valves 31,2 air bleeding valves 31 are provided with bottom gas cylinder 3, air bleeding valve 31 and water intaking valve 32 are two, respectively near gas cylinder 4 rear and front end, described air bleeding valve 31 and air bleeding valve 31 are controlled separately by controller, can regulate flow velocity and flow respectively when exhaust water inlet;
Be provided with dividing plate 33 in the middle of gas cylinder 1, gas cylinder 1 inner chamber is divided into front and back two parts by this dividing plate 33, and the volume of front and back two parts cavity is identical, and front and back two parts cavity is equipped with an air bleeding valve 31 and a water intaking valve 32.By controlling the flow of air bleeding valve 31 and water intaking valve 32, two-part inflow in gas cylinder 1 can be regulated.Thus the position of centre of gravity of modifier, change in resistance during to adapt to sample suffered by sampling pipe.
Sampler 4 adopts unpowered mode, utilizes static pressure principle, and the net buoyancy straight down relying on gas cylinder 1 to be vented generation during sampling is inserted in deposit, can realize deposit undisturbed.
Further as shown in Figure 4 and Figure 5, sampler 4 comprises sampling pipe 41, connecting ring 414 is disposed with from top to bottom above sampling pipe 41, fixed cover 412, clamping body and sampling pipe upper cover 42, connecting ring 414 is enclosed within described main cabin body 1, fixed cover 412 is connected with connecting ring 414 by fixed block 412, slip mandrel 410 is provided with in fixed cover 412, cable 6 is connected to slip mandrel 410 upper end, cable 6 one aspect plays Signal transmissions effect, play the effect that drag-line pulls on the other hand, slip mandrel 410 bottom is provided with the execution block 422 coordinated with clamping body, clamping body coordinates with the Access Division on sampling pipe upper cover 42, sampling pipe 41 external wall of upper portion is provided with support ring 419, sampling pipe 41 Upper vertical is provided with many axis of guides 44, the axis of guide 44 is arranged on support ring 419, sampling pipe upper cover 42 edge has the pilot hole coordinated with the axis of guide 44, sampling pipe upper cover 42 is enclosed within this axis of guide 44, and can move up and down along the axis of guide 44, extension spring 47 is provided with between sampling pipe upper cover 42 and sampling pipe 41, sampling pipe upper cover 42 edge is corresponding with on support ring 419 is provided with hanging hole, extension spring 47 upper and lower side is hooked in the hanging hole of sampling pipe upper cover 42 edge and support ring 419 respectively, the axis of guide 44 and extension spring 47 are all uniform along sampling pipe 41 circumference.
Access Division is the clamping block 421 being fixed on sampling pipe upper cover 42 upper surface, this clamping block 421 side opening is provided with multiple buckling groove, clamping body comprises fixed cover 412 and is arranged on multiple shackle member of fixed cover 412 bottom outer wall, fixed cover 412 top is provided with fixed block 413, fixed block 413 is provided with connecting ring 414, shackle member comprises the vertical slide block 46 arranged and the clamping joint being connected to slide block 46 lower end, clamping joint is towards fixed cover 412, contiguous block is provided with inside slide block 46, fixed cover 412 bottom outer wall is provided with torsion spring frame 47, contiguous block and torsion spring frame 47 wear connection by bearing pin, on this bearing pin, also cover has torsion spring 48, this torsion spring 48 one end is against on fixed cover 412 outer wall, the other end is against contiguous block bottom.
Slip mandrel 410 is slidably mounted in fixed cover 412, fixed cover 412 outer wall offers many guide grooves 416 vertically, fixed cover 412 overcoat has installing ring 420, execution block 422 is arranged on installing ring 420 by backing pin 49, this backing pin 49 is fixed through installing ring 420 and slip mandrel 410, execution block 422 bottom is against inside slide block 46, and clamping joint is remained in buckling groove.
Slip mandrel 410 top offers spacing groove 415 vertically, and this spacing groove 415 is positioned at above executive item, and be laterally provided with spacer pin 411 in spacing groove, spacer pin 411 two ends pass fixed cover 412 sidewall.
Sampling pipe 41 outer wall is provided with sampling pipe lower cover 43 and swinging mounting 417, hinged in the middle part of this swinging mounting 417 first end and sampling pipe 41, second end installs sampling pipe lower cover 43, second end of this swinging mounting 417 is horizontally disposed with limited location block 418, limited block 418 and sampling pipe lower cover 43 are positioned at not homonymy, this limited block 418 is provided with hole clipping, and the clamping joint of one of them slide block 46 stretches in hole clipping, is locked by swinging mounting 417.
Sampling pipe upper cover 42 can slide axially along the axis of guide 44, be subject to again the pulling force of extension spring 47 simultaneously, sampling pipe lower cover 43 can close the bottom of sampling pipe 41 when closure state, torsion spring 48 is arranged between torsion spring frame 47 and slide block 46, backing pin 49 inserts in slip mandrel 410 through fixed cover 412, slip mandrel 410 can slide axially along fixed cover 412, the sliding scale of spacer pin 411 limit slippage mandrel 410 simultaneously, the top of slip mandrel 410 can be connected with cable, fixed cover 412 is connected with connecting ring 414 by fixed block 413, connecting ring 414 is connected with main cabin body 1.
When sampling starts, as shown in Figure 4, underwater sediment(s) sampling robot moves horizontally finds optimum sampling position to each part position relation; To determine and after moving to sampling location, underwater sediment(s) sampling robot adjustment attitude, is in level, and slowly move to sampling pipe 41 and touch deposit; Open the air bleeding valve 31 on gas cylinder 3 and water intaking valve 32, by gas cylinder 3 slowly water filling, the net buoyancy of underwater sediment(s) sampling robot also becomes large downwards gradually, the sampling pipe 41 of sampler 4 is pressed into water-bed sampling.
After sampling terminates, sampling pipe 41 inserts in bed mud, slip mandrel 410 up slides along fixed cover 412 under the pulling of cable 6, backing pin 49 is driven to slide together, when backing pin 49 slides into enough high, after execution block 422 and slide block 46 depart from, slide block 46 opens under the effect of torsion spring 48, now clamping joint exits from buckling groove, sampling pipe upper cover 42 has departed from the constraint of slide block 46, be subject to the pulling force slide downward of extension spring 47, the top of closed sampling pipe 41, slide block 46 makes clamping joint exit hole clipping equally simultaneously, limited block 418 is discharged, swinging mounting 417 drives sampling pipe lower cover 43 to rotate under gravity, sampling pipe lower cover 43 drops on underwater sediment, along with cable 6 continue pack up, sampling pipe 41 lower end of sampling robot departs from the bottom completely, sampling pipe lower cover 43 continues to rotate, until by completely closed for sampling pipe 41 bottom, prevent deposit from spilling in sampling pipe 41, then continue to pack up cable 6 sampling robot is regained.
Any person skilled in the art scholar all without prejudice under spirit of the present utility model and category, can modify above-described embodiment or changes.Therefore, such as have in art and usually know that the knowledgeable modifies or changes not departing from all equivalences completed under the spirit and technological thought that the utility model discloses, must be contained by claim of the present utility model.
Claims (10)
1. a underwater sediment(s) sampling robot, the propeller comprising main cabin body and be arranged on the body of main cabin and sampler, it is characterized in that: described main cabin body is also provided with balancing weight and gas cylinder, and it is external that described gas cylinder is positioned at main cabin, and this gas cylinder is provided with air bleeding valve.
2. underwater sediment(s) sampling robot according to claim 1, it is characterized in that: described balancing weight is arranged on body bottom, main cabin, and the position of centre of gravity of close main cabin body, described gas cylinder is arranged on main cabin body top outer, described air bleeding valve is arranged on gas cylinder top, is also provided with water intaking valve bottom described gas cylinder.
3. underwater sediment(s) sampling robot according to claim 2, is characterized in that: described air bleeding valve and water intaking valve are two, respectively near gas cylinder rear and front end, this air bleeding valve and water intaking valve are controlled separately by controller.
4. underwater sediment(s) sampling robot according to claim 3, it is characterized in that: in the middle part of described gas cylinder, be provided with dividing plate, gas cylinder inner chamber is divided into front and back two parts by this dividing plate, and the volume of front and back two parts cavity is identical, front and back two parts cavity is equipped with an air bleeding valve and a water intaking valve.
5. underwater sediment(s) sampling robot according to claim 1, it is characterized in that: also comprise cable, described cable is connected to sampler top, described main cabin body is provided with attitude transducer, camera and sonar sealedly, described camera is 2, and one is horizontally disposed with, and another is arranged down, downward, described cable and attitude transducer, camera and sonar communicate to connect described sonar.
6. underwater sediment(s) sampling robot according to claim 5, it is characterized in that: described sampler comprises sampling pipe, connecting ring is disposed with from top to bottom above described sampling pipe, fixed cover, clamping body and sampling pipe upper cover, connecting ring is connected with described main cabin body, fixed cover is connected with connecting ring by fixed block, slip mandrel is provided with in fixed cover, described cable is connected to slip mandrel upper end, described slip mandrel bottom is provided with the execution block coordinated with clamping body, described clamping body coordinates with the Access Division that sampling pipe covers, described sampling pipe Upper vertical is provided with the axis of guide, sampling pipe upper cover is enclosed within this axis of guide, and can move up and down along the axis of guide, extension spring is provided with between sampling pipe upper cover and sampling pipe.
7. underwater sediment(s) sampling robot according to claim 6, it is characterized in that: described Access Division is the clamping block being fixed on sampling pipe upper cover upper surface, this clamping block side opening is provided with multiple buckling groove, described clamping body comprises the slide block being vertically arranged on fixed cover side and the clamping joint being connected to slide block lower end, clamping joint is towards described fixed cover, contiguous block is provided with inside slide block, described fixed cover bottom outer wall is provided with torsion spring frame, described contiguous block and torsion spring frame wear connection by bearing pin, on this bearing pin, also cover has torsion spring, this one end is against on fixed cover outer wall, the other end is against contiguous block bottom.
8. underwater sediment(s) sampling robot according to claim 7, it is characterized in that: described slip mandrel is slidably mounted in fixed cover, fixed cover outer wall offers many guide grooves vertically, described fixed cover overcoat has installing ring, described execution block is arranged on installing ring by backing pin, this backing pin is fixed through installing ring and slip mandrel, and described execution block bottom is against inside slide block, and clamping joint is remained in buckling groove.
9. underwater sediment(s) sampling robot according to claim 8, it is characterized in that: described slip mandrel top offers spacing groove vertically, this spacing groove is positioned at above executive item, laterally spacer pin is provided with in described spacing groove, spacer pin two ends pass described fixed cover sidewall, also comprise sampling pipe lower cover and swinging mounting, hinged in the middle part of this swinging mounting first end and sampling pipe, second end installs described sampling pipe lower cover, second end of this swinging mounting is horizontally disposed with limited location block, this limited block is provided with hole clipping, described in one of them, the clamping joint of slide block stretches in hole clipping, described swinging mounting is locked.
10. underwater sediment(s) sampling robot according to claim 1, is characterized in that: described sampler is arranged on body bottom, main cabin, and downward, described balancing weight is arranged on the both sides of sampler to this sampler symmetrically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420801422.4U CN204302048U (en) | 2014-12-17 | 2014-12-17 | Underwater sediment(s) sampling robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420801422.4U CN204302048U (en) | 2014-12-17 | 2014-12-17 | Underwater sediment(s) sampling robot |
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| CN204302048U true CN204302048U (en) | 2015-04-29 |
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| CN201420801422.4U Active CN204302048U (en) | 2014-12-17 | 2014-12-17 | Underwater sediment(s) sampling robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105675835A (en) * | 2016-01-07 | 2016-06-15 | 大连理工大学 | Handheld terminal monitoring device of vibration type sediment acquisition instrument and method |
| CN110398391A (en) * | 2018-04-24 | 2019-11-01 | 水利部交通运输部国家能源局南京水利科学研究院 | High dam depth demixing water and Sediment core integration artificial intelligence sampling apparatus |
-
2014
- 2014-12-17 CN CN201420801422.4U patent/CN204302048U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105675835A (en) * | 2016-01-07 | 2016-06-15 | 大连理工大学 | Handheld terminal monitoring device of vibration type sediment acquisition instrument and method |
| CN110398391A (en) * | 2018-04-24 | 2019-11-01 | 水利部交通运输部国家能源局南京水利科学研究院 | High dam depth demixing water and Sediment core integration artificial intelligence sampling apparatus |
| CN110398391B (en) * | 2018-04-24 | 2020-05-08 | 水利部交通运输部国家能源局南京水利科学研究院 | High dam deep reservoir layering water sample and sediment column sample integrated artificial intelligence sampling device |
| US10794887B2 (en) | 2018-04-24 | 2020-10-06 | Nanjing Hydraulic Research Institute | Intelligent device for integrated sampling of layered water and sediment core of deep reservoir |
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Effective date of registration: 20210820 Address after: 215153 floor 5, building 7, office building, No. 88, Zhenbei Road, Tong'an Town, Suzhou high tech Zone, Suzhou, Jiangsu Province Patentee after: Zhongke Wanxun Intelligent Technology (Suzhou) Co.,Ltd. Address before: 400714 No. 266 Fangzheng Avenue, Beibei District, Beibei District, Chongqing Patentee before: Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences |