CN109060451A - A kind of seed automatic sampling device - Google Patents
A kind of seed automatic sampling device Download PDFInfo
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- CN109060451A CN109060451A CN201810991503.8A CN201810991503A CN109060451A CN 109060451 A CN109060451 A CN 109060451A CN 201810991503 A CN201810991503 A CN 201810991503A CN 109060451 A CN109060451 A CN 109060451A
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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
- G01N1/20—Devices for withdrawing samples in the liquid or fluent state for flowing or falling materials
- G01N1/2035—Devices for withdrawing samples in the liquid or fluent state for flowing or falling materials by deviating part of a fluid stream, e.g. by drawing-off or tapping
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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
- G01N2001/1006—Dispersed solids
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Abstract
The invention belongs to technical field of automation in industry, it is related to a kind of seed automatic sampling device, including feeding machanism, material fetching mechanism, conveying mechanism, grasping mechanism, sampling mechanism, sample collection mechanism and seed collection mechanism, material fetching mechanism can be moved up and down, material fetching mechanism can obtain seed from feed hopper, and seed movement is put on conveying mechanism, seed is delivered to crawl position and grabbed for grasping mechanism by conveying mechanism, grasping mechanism outputs signal to grasping mechanism by vision inspection apparatus and makes crawl position adjustment, realize the crawl to seed fast accurate, the seed grabbed is moved to sample position and is sampled for sampling mechanism by grasping mechanism, the sample removed falls into sample collection mechanism, the seed for completing sampling is crawled mechanism and is sent into seed collection mechanism.The function that the present invention realizes seed sampling without damage and collects, has many advantages, such as that seed wide adaptability, high degree of automation, work efficiency is high.
Description
Technical field
The invention belongs to industrial automation equipment technical fields, and in particular to a kind of seed automatic sampling device.
Background technique
Current molecular breeding technology is to carry out genotyping by acquiring the blade of seedling, by crop planting season
Limitation, and a large amount of planting spaces, time and manpower are needed, it cannot ensure to find optimal plant.If directly carried out to seed
Minimally invasive sampling cuts a small amount of endosperm and carries out DNA extraction and genotyping, the germination activity without damaging seed germ, then
According to genotyping result preferred seed, is planted, hybridized and further offspring analysis, will solve this problem.So
And the sampling and genotyping of a seeds up to a million are difficult to complete by artificial means.
Summary of the invention
The purpose of the present invention is to solve shortcomings and deficiencies existing in the prior art, provide a kind of the degree of automation
It is high, can implement sampling without damage, strong applicability, the seed automatic sampling device that work efficiency is high, it can be achieved that a variety of seeds sampling
Operation, such as wheat, rice, corn and soybean.
To achieve the above object, the technical scheme adopted by the invention is that: a kind of seed automatic sampling device, including feed
Mechanism, material fetching mechanism, conveying mechanism, grasping mechanism sampling mechanism, sample collection mechanism and the seed collection mechanism after being sampled,
The feeding machanism includes the feed hopper that can vibrate setting, is separated from each other the seed in feed hopper by vibrating, and is convenient for feeding
Mechanism carries out single seeded acquisition, and the material fetching mechanism can be moved up and down, is arranged by the movement, material fetching mechanism
Seed can be obtained from feed hopper, and seed movement is put on conveying mechanism, and seed is delivered to by the conveying mechanism
Crawl position is grabbed for grasping mechanism, and the grasping mechanism carries out Image Acquisition to seed by vision inspection apparatus and divides
Analysis obtains seed changing coordinates and angle, by calculating changing coordinates, angle and ideal coordinates, the deviation of angle and comparing
It exports and makes crawl position adjustment to grasping mechanism, realize the crawl to seed fast accurate, the grasping mechanism will grab
Seed be moved to sample position and be sampled for sampling mechanism, the sample removed falls into sample collection mechanism, completes sampling
Seed is crawled mechanism and is sent into seed collection mechanism.
Preferably, the feeding machanism includes fixing seat, and the feed hopper is arranged by more elastomeric support columns in fixation
On seat, and the bottom of feed hopper is equipped with pneumatic vibrator.
Preferably, the material fetching mechanism includes moving horizontally mould group and being vertically mounted on the vertical shifting moved horizontally in mould group
Dynamic model group, vacuum slot is equipped in the vertical shift mould group, and the vacuum slot is equipped with vacuum breaking device, the vacuum
Suction nozzle is also connected with vacuum pressure detection apparatus.
Preferably, the conveying mechanism includes synchronous belt pipeline, and the synchronous belt pipeline is described by motor driven
One end of conveying mechanism is additionally provided with seed storage bucket.
Preferably, the grasping mechanism includes tetra- axis flapping articulation robot of SCARA, the tetra- axis flapping articulation of SCARA
Robot front end is equipped with Pneumatic paw, is equipped with vision-based detection camera, vision-based detection camera front end above the Pneumatic paw
Equipped with light source.
Preferably, the sampling mechanism includes that bracket is filled with the laser cutting that on bracket and can be moved up and down is fixed on
It sets.
Preferably, the bracket is equipped with vertical bar and cross bar, and the laser cutting device is fixed on cross bar, the cross bar
It can be moved up and down along vertical bar, the laser cutting device can be moved left and right along cross bar.
Preferably, the sample collection mechanism include the first positioning module and be vertically set on the first positioning module the
Two positioning modules.
Preferably, the seed collection mechanism includes collecting pedestal, is all provided on second positioning module and collection pedestal
There is PCR pan arrest plate, the PCR disk pallet side is equipped with positioning clamping device.
Preferably, 96 hole PCR disk of standard is placed on the PCR pan arrest plate, and locating clip is carried out by positioning clamping device
Tightly.
After adopting the above technical scheme, a kind of seed automatic sampling device provided by the invention has the advantages that
The present invention is automatically performed the work such as feed, feeding, feeding, crawl, sampling, sample and seed collection, whole process
Without manually participating in, high production efficiency, cost of labor is low；Different type, the kind of size are adapted to using different nozzle structures
Son；Using vacuum-pressure detection and vacuum breaking device, it is ensured that the effective absorption and placement of seed；It is synchronous using motor driven
Band conveys seed, can be adjusted in real time to the spacing between the conveying speed of seed and seed, meet different confessions
Material require, in addition, seed-conveyor structure end also add do not grab seed storage bucket, can to special seed or can not identify or
The seed of crawl is collected, and guarantees the clean and tidy of work top；The seed on pipeline is sat using vision inspection apparatus
It demarcates position, angle recognition etc. and is transferred to grasping mechanism and make crawl position adjustment, realize the crawl to seed fast accurate；It adopts
With laser cutting mode, guarantee correct cutting output and angle, the influence to seed is smaller, guarantees the survival rate of subsequent breeding.
Therefore, the function that the present invention realizes seed sampling without damage and collects has seed wide adaptability, high degree of automation, work
The advantages that high-efficient.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of seed automatic sampling device of the present invention；
Fig. 2 is the structural schematic diagram of feeding machanism of the present invention；
Fig. 3 is the structural schematic diagram of material fetching mechanism of the present invention；
Fig. 4 is the structural schematic diagram of conveying mechanism of the present invention；
Fig. 5 is the structural schematic diagram of grasping mechanism of the present invention；
Fig. 6 is the structural schematic diagram of sampling mechanism of the present invention；
Fig. 7 is the structural schematic diagram of sample collection mechanism of the present invention；
Fig. 8 is the structural schematic diagram of seed collection mechanism of the present invention；
Fig. 9 is PCR pan arrest plate positioning clamping device partial structure diagram of the present invention.
Wherein: rack 1, feeding machanism 2, feed hopper 21, fixing seat 22, column 23, sleeve 24, buffer spring 25, pneumatic
Vibrator 26, feeding pedestal 31, moves horizontally mould group 32, vertical shift mould group 33, vacuum slot 34, vacuum pressure at material fetching mechanism 3
Force checking device 35, conveying mechanism 4, synchronous belt pipeline 41, seed storage bucket 42, grasping mechanism 5, tetra- axis level of SCARA are closed
It is fixed to save robot 51, robot base 52, Pneumatic paw 53, vision-based detection camera 54, light source 55, sample collection mechanism 6, first
Position mould group 61, the second positioning module 62, sampling mechanism 7, bracket 71, vertical bar 72, cross bar 73, laser cutting device 74, seed are received
Collecting mechanism 8 collects pedestal 81, support rod 82, PCR pan arrest plate 9, poppet body 91, mounting base 92, limit rib 93, locating clip
Tight device 94.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and detailed description.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term should broadly understood, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
A kind of seed automatic sampling device of the present invention, as shown in Figure 1, including rack 1 and the work being fixed in rack 1
Platform is fixed with feeding machanism 2, material fetching mechanism 3, conveying mechanism 4, grasping mechanism 5, sample collection mechanism 6 on workbench and is taken
Seed collection mechanism 8 after sample, 1 outside of rack are equipped with sampling mechanism 7,3 He of material fetching mechanism close to the side of sample collection mechanism 6
Sample collection mechanism 6 is separately positioned on the left and right ends of conveying mechanism 4, feeding machanism 2, grasping mechanism 5 and seed collection mechanism 8
The same side of conveying mechanism 4 is set.
Specifically, as shown in Fig. 2, feeding machanism 2 includes fixing seat 22 and feed hopper 21, fixing seat 22 and feed hopper 21 it
Between be equipped with more elastomeric support columns, more elastomeric support columns are specifically configured to four, are separately positioned on fixing seat 22 and feed hopper
On 21 one-to-one four angles, elastomeric support column includes column 23 and sleeve 24, and is equipped between column 23 and sleeve 24 slow
Spring 25 is rushed, the bottom of feed hopper 21 is equipped with pneumatic vibrator 26, and pneumatic vibrator 26 drives feed hopper 21 to vibrate, above-mentioned elasticity
The setting of support column not only can guarantee the level of feed hopper 21, but also can guarantee the amplitude range of feed hopper 21, pneumatic vibrator 26
Vibration can not only guarantee that seed was evenly distributed in feed hopper 21, but also the seed in feed hopper 21 can be made to be separated from each other, and be convenient for
Material fetching mechanism 3 carries out single seeded acquisition.
As shown in figure 3, material fetching mechanism 3 includes being fixed on moving horizontally mould group 32 and being vertically mounted on feeding pedestal 31
The vertical shift mould group 33 in mould group 32 is moved horizontally, mould group 32 is moved horizontally and vertical shift mould group 33 all passes through servo motor
Lead screw rotation is driven, drives guide rail slide block to move back and forth by feed screw nut, vacuum slot 34 is installed in vertical shift mould group 33,
Vacuum slot 34 realizes under the synergy for moving horizontally mould group 32 and vertical shift mould group 33 and moves up and down, Neng Gouyi
It moves and draws seed in feed hopper 21, seed is placed in the top that can be also moved to conveying mechanism 4, and vacuum slot 34 uses metal
Material is process, and is adapted to different types of seed by changing nozzle structure, vacuum slot 34 is filled equipped with vacuum breaker
It sets, it is ensured that seed is successfully placed on conveying mechanism 4, and vacuum slot 34 is also connected with vacuum pressure detection apparatus 35, can
To carry out real-time monitoring to whether seed is successfully drawn and placed, the success rate of seeding is further ensured.
As shown in figure 4, conveying mechanism 4 includes by motor-driven synchronous belt pipeline 41, synchronous belt pipeline 41 will
The seed that vacuum slot 34 is placed on conveying mechanism 4 is delivered to crawl position and is grabbed for grasping mechanism 5, is driven using motor
Dynamic synchronous belt conveys seed, can be adjusted in real time to the spacing between the conveying speed of seed and seed, meets
Difference feed requires, and conveying mechanism 4 is additionally provided with seed storage bucket 42 far from one end of material fetching mechanism 3, can be to special seed or nothing
The seed of method identification or crawl is collected, and guarantees the clean and tidy of work top.
As shown in figure 5, grasping mechanism 5 includes horizontal by fixed tetra- axis of SCARA on the table of robot base 52
Articulated robot 51, tetra- axis flapping articulation robot of SCARA, 51 front end are equipped with Pneumatic paw 53, are equipped with view above Pneumatic paw 53
Feel detection camera 54, seed carried out Image Acquisition and analyzed by vision inspection apparatus to obtain seed changing coordinates and angle,
Crawl position is made to grasping mechanism 5 by calculating and comparing to export changing coordinates, angle and ideal coordinates, the deviation of angle
Adjustment is set, the crawl to seed fast accurate is realized, is additionally provided on 54 front end of vision-based detection camera or workbench as vision-based detection
The light source 55 of the offer brightness of camera 54.
As shown in fig. 6, sampling mechanism 7 includes bracket 71 and is fixed on the laser that on bracket 71 and can be moved up and down and cuts
Turning device 74, specifically, bracket 71 is equipped with vertical bar 72 and cross bar 73, laser cutting device 74 is fixed on cross bar 73, cross bar
73 can move up and down and fix along vertical bar 72, and laser cutting device 74 can be moved left and right and be fixed along cross bar 73, bracket 71
Bottom is additionally provided with 4 adjustable lower margins, can the degree of balance to sampling mechanism 7 and height suitably adjusted.
As shown in fig. 7, sample collection mechanism 6 includes the first positioning module 61 and is vertically set on the first positioning module 61
The second positioning module 62, the first positioning module 61 and the second positioning module 62 all drive lead screw rotation by servo motor, by
Feed screw nut drives guide rail slide block to move back and forth, and the second positioning module 62 is equipped with PCR pan arrest plate 9, places on PCR pan arrest plate 9
96 hole PCR disk of standard, PCR disk carry out positioning clamping by the positioning clamping device 94 that 9 side of PCR pan arrest plate is arranged, due to swashing
Light cutting device 74 needs to remain stationary during the cutting process, and the distance relative to seed is consistent, therefore to sample collection machine
Structure 6 devises two Dimensional XY locating platform, and PCR disk automatic positioning clamping device 94 is added on platform, guarantees under cutting
Sample is precisely fallen into the corresponding grid of PCR disk.
As shown in figure 8, seed collection mechanism 8 includes collecting pedestal 81, collects and also be provided with and the second positioning mould on pedestal 81
Structure the same PCR pan arrest plate 9 and positioning clamping device 94 in group 62 is equipped with support between PCR pan arrest plate 9 and collection pedestal 81
Bar 82.
As shown in figure 9, the PCR pan arrest plate 9 in above-mentioned sample collection mechanism 6 and seed collection mechanism 8 includes poppet body
91,91 surrounding of poppet body is equipped with limit rib 93 and mounting base 92, and positioning clamping device 94, positioning are installed in mounting base 92
Clamping cylinder can be selected in clamping device 94, and the positioning to PCR disk is realized under the synergistic effect of limit rib 93 and clamping cylinder
It clamps.
A kind of seed automatic sampling device work step of the present invention is as follows: the starting of a. equipment, material fetching mechanism 3, grasping mechanism
5, sample collection mechanism 6 returns to zero, and the positioning clamping device 94 on PCR pan arrest plate 9 clamps PCR disk；B. start pneumatic vibrator 26,
Feed hopper 21 is driven to vibrate, the seed in feed hopper 21 is separated from each other；C. material fetching mechanism 3 works, and vacuum slot 34 is every time from confession
A seed is drawn in hopper 21 and movement is placed on conveying mechanism 4；D. conveying mechanism 4 drives seed to travel forward, and works as kind
Son is delivered to stopping when grabbing station；E. grasping mechanism 5 works, and tetra- axis flapping articulation robot 51 of SCARA, which receives, to be come from
After the signal of the seed transmission of PLC in place, tetra- axis flapping articulation robot 51 of SCARA send vision-based detection camera 54 to position of taking pictures
It sets, vision-based detection camera 54 detects the kind subcoordinate of station to be grabbed and angle feed-back gives SCARA tetra- axis flapping articulation robots
51, SCARA tetra- axis flapping articulation robots 51 adjust 53 posture of Pneumatic paw and crawl position, complete the accurate crawl of seed
If (station to be grabbed can not identify seed there is no seed or camera, inform that PLC retransfers seed, until camera is clapped
It then being grabbed to seed, unrecognized seed is fallen into seed storage bucket 42)；F. seed is transported to by grasping mechanism 5 takes
Then kind is cut by laser cutting device 74 in the sample position of model machine structure 7, i.e. the laser cutting position of laser cutting device 74
Son, cutting position immobilize, and the PCR pan arrest plate 9 in sample collection mechanism 6 is mobile by planar, so that under cutting
The PCR disk that sample falls into lower section sample collection mechanism 6 specifies in grid and records sample coordinate；G. the seed after the completion of sampling is again
It is specified in grid by the mobile PCR catch tray for being put into seed collection mechanism 8 of grasping mechanism 5, and records kind of a subcoordinate, at this point, sample
Seed in the sample of the PCR disk of product collecting mechanism 6 and the PCR disk of seed collection mechanism 8 is at one-to-one relationship, in repetition
Step b-g is stated, until being put into sample in each cell of the PCR disk of the PCR disk and seed collection mechanism 8 of sample collection mechanism 6
Product and seed, replacement PCR disk continue above-mentioned work；The sample P CR disk for filling sample is sent to analysis area and carries out genetic analysis, point
The superiority and inferiority for distinguishing seed, the sample with excellent genes are recorded, in the PCR disk of corresponding seed collection mechanism 8
Seed can be used to breeding, and the undesirable seed of gene is no longer cultivated, to guarantee to find optimal plant.
In conclusion a kind of seed automatic sampling device provided by the invention, realizes seed sampling without damage and collect
Function has many advantages, such as that seed wide adaptability, high degree of automation, work efficiency is high, has very big market value, is worth wide
General popularization and application.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of seed automatic sampling device, it is characterised in that: including feeding machanism (2), material fetching mechanism (3), conveying mechanism
(4), grasping mechanism (5), sampling mechanism (7), sample collection mechanism (6) and the seed collection mechanism (8) after being sampled；
The feeding machanism (2) includes the feed hopper (21) that can vibrate setting, by vibrating the seed in feed hopper (2) each other
Separation carries out single seeded acquisition convenient for material fetching mechanism (3)；
The material fetching mechanism (3) can be moved up and down, be arranged by the movement, and material fetching mechanism (3) can be from feed hopper
(21) seed is obtained in, and seed movement is put on conveying mechanism (4)；
Seed is delivered to crawl position and grabbed for grasping mechanism (5) by the conveying mechanism (4)；
The grasping mechanism (5) by vision inspection apparatus to seed carry out Image Acquisition and analyze obtain seed changing coordinates and
Angle is done by calculating and comparing to export changing coordinates, angle and ideal coordinates, the deviation of angle to grasping mechanism (5)
The crawl to seed fast accurate is realized in the adjustment of crawl position and angle out；
The seed grabbed is moved to sample position and is sampled for sampling mechanism (7) by the grasping mechanism (5), the sample removed
Product fall into sample collection mechanism (6), and the seed for completing sampling is crawled mechanism (5) and is sent into seed collection mechanism (8).
2. a kind of seed automatic sampling device according to claim 1, it is characterised in that: the feeding machanism (2) includes
Fixing seat (22), the feed hopper (21) are arranged on fixing seat (22) by more elastomeric support columns, and feed hopper (21)
Bottom is equipped with pneumatic vibrator (26).
3. a kind of seed automatic sampling device according to claim 1, it is characterised in that: the material fetching mechanism (3) includes
It moves horizontally mould group (32) and is vertically mounted on the vertical shift mould group (33) moved horizontally on mould group (32), the vertical shift
It is equipped in mould group (33) vacuum slot (34), the vacuum slot (34) is equipped with vacuum breaking device, the vacuum slot
(34) vacuum pressure detection apparatus (35) are also connected with.
4. a kind of seed automatic sampling device according to claim 1, it is characterised in that: the conveying mechanism (4) includes
Synchronous belt pipeline (41), for the synchronous belt pipeline by motor driven, one end of the conveying mechanism (4) is additionally provided with seed
Storage bucket (42).
5. a kind of seed automatic sampling device according to claim 1, it is characterised in that: the grasping mechanism (5) includes
Tetra- axis flapping articulation robot (51) of SCARA, tetra- axis flapping articulation robot (51) front end SCARA are equipped with Pneumatic paw
(53), vision-based detection camera (54) are equipped with above the Pneumatic paw (53), vision-based detection camera (54) front end is equipped with light
Source (55).
6. a kind of seed automatic sampling device according to claim 1, it is characterised in that: the sampling mechanism (7) includes
Bracket (71) and the laser cutting device (74) that is fixed on bracket (71) and can move up and down.
7. a kind of seed automatic sampling device according to claim 6, it is characterised in that: the bracket (71) is equipped with perpendicular
Bar (72) and cross bar (73), the laser cutting device (74) are fixed on cross bar (73), and the cross bar (73) can be along vertical bar
(72) it moves up and down, the laser cutting device (74) can move left and right along cross bar (73).
8. a kind of seed automatic sampling device according to claim 1, it is characterised in that: the sample collection mechanism (6)
Including the first positioning module (61) and the second positioning module (62) being vertically set on the first positioning module (61).
9. a kind of seed automatic sampling device according to claim 8, it is characterised in that: the seed collection mechanism (8)
Including collecting pedestal (81), it is equipped with PCR pan arrest plate (9) in second positioning module (62) and collection pedestal (81), it is described
PCR pan arrest plate (9) side is equipped with positioning clamping device (94).
10. a kind of seed automatic sampling device according to claim 9, it is characterised in that: on the PCR pan arrest plate (9)
96 hole PCR disk of placement standard, and positioning clamping is carried out by positioning clamping device (94).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810991503.8A CN109060451A (en) | 2018-08-29 | 2018-08-29 | A kind of seed automatic sampling device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810991503.8A CN109060451A (en) | 2018-08-29 | 2018-08-29 | A kind of seed automatic sampling device |
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| CN109060451A true CN109060451A (en) | 2018-12-21 |
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| CN201810991503.8A Pending CN109060451A (en) | 2018-08-29 | 2018-08-29 | A kind of seed automatic sampling device |
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| CN112834264A (en) * | 2021-03-30 | 2021-05-25 | 深圳市通量检测科技有限公司 | Sampling robot for food detection |
| CN113008594A (en) * | 2021-02-25 | 2021-06-22 | 杨春香 | Quality detection mechanism for instant food |
| CN113670652A (en) * | 2021-08-19 | 2021-11-19 | 安徽华成种业股份有限公司 | Seed sampling equipment |
| CN115108273A (en) * | 2022-07-08 | 2022-09-27 | 中国核电工程有限公司 | Online sampling device of core block |
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| CN112834264B (en) * | 2021-03-30 | 2022-07-29 | 深圳市通量检测科技有限公司 | Sampling robot for food detection |
| CN113670652A (en) * | 2021-08-19 | 2021-11-19 | 安徽华成种业股份有限公司 | Seed sampling equipment |
| CN113670652B (en) * | 2021-08-19 | 2024-03-29 | 安徽华成种业股份有限公司 | Seed sampling equipment |
| CN115108273A (en) * | 2022-07-08 | 2022-09-27 | 中国核电工程有限公司 | Online sampling device of core block |
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