CN208216956U - A kind of Bionic flexible arm drive-type submersible - Google Patents
A kind of Bionic flexible arm drive-type submersible Download PDFInfo
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- CN208216956U CN208216956U CN201820667593.0U CN201820667593U CN208216956U CN 208216956 U CN208216956 U CN 208216956U CN 201820667593 U CN201820667593 U CN 201820667593U CN 208216956 U CN208216956 U CN 208216956U
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Abstract
The utility model relates to a kind of Bionic flexible arm drive-type submersibles, belong to diving robotic technology field.Bionic flexible arm drive-type submersible includes watertight body shell, is mounted on the indoor control unit in inner cavity and power supply unit of the watertight body shell, and the buoyancy adjustment unit and power unit that are controlled by the control unit；Power unit includes the flexible drive arm being mounted on the tail end of watertight body shell, and the quantity of flexible drive arm is three or more；Flexible drive arm includes flexible arm body and the actuator for being mounted in flexible arm body and be used to drive flexible arm body bending deformation, which includes electrostrictive element.Using the flexible arm body driven by electrostrictive element as flexible drive arm, with the motor pattern of bionical octopus, the noise in operational process is efficiently reduced, to improve the hidden-type of entire submersible, can be widely applied to the fields such as hydrospace detection.
Description
Technical field
The utility model relates to a kind of diving robots, specifically, being related to a kind of Bionic flexible arm drive-type submersible.
Background technique
As to the exploration of ocean and going deep into for understanding, developing and utilizing marine resources becomes theme, complicated and changeable
Marine environment in, underwater robot will become exploitation marine resources during essential equipment.
A kind of machine octopus is disclosed in the patent document that publication No. is CN102631786A；The machine octopus includes sealing
Body shell, the control unit being mounted in the sealing body shell and power supply unit, and the buoyancy adjustment list controlled by control unit
Member and power unit；Wherein, power supply unit provides electric energy for the normal work of other function unit, and buoyancy adjustment unit includes solid
It is scheduled on four syringes of sealing body shell bottom and the driving motor for driving syringe to draw water and spray water, power unit packet
It includes four and is equably installed in sealing body shell lateral surface charging pump.
The machine octopus goes out water speed in the process of running, by four water pumps of control, with to whole equipment posture,
Steering be adjusted with speed, but four water pumps during whole service all in open state, noise is larger, is unfavorable for
Submersible is hidden；In addition, usually requiring that four water pumps with carrying out full gear injection water, still when it needs quick action
It is difficult to be adjusted to posture and realize steering at this time.
Utility model content
The purpose of the utility model is to provide a kind of Bionic flexible arm drive-type submersibles, are made an uproar with reducing the operation of submersible
Sound.
In order to achieve the above-mentioned main objectives, Bionic flexible arm drive-type submersible provided by the utility model includes watertight body
Body shell is mounted on the indoor control unit in inner cavity and power supply unit of the watertight body shell, and is floated by what the control unit was controlled
Power adjusts unit and power unit；Power unit includes the flexible drive arm being mounted on the tail end of watertight body shell, flexible
The quantity of actuating arm is three or more；Flexible drive arm includes flexible arm body and is mounted in flexible arm body and for driving flexibility
The actuator of arm body bending deformation, the actuator include electrostrictive element.
The construction force unit using flexible drive arm bionical octopus feeler, to realize speed, appearance to entire submersible
State is adjusted with steering, and the bending deformation power of flexible drive arm is provided by electrostrictive element, and is adopted in the prior art
It is compared with multiple water pump construction force units, operation noise is lower, more conducively hidden in submersible operational process.
It includes jet propulsion units that specific scheme, which is power unit,；Jet propulsion units are indoor including being mounted on inner cavity
Airtight protection hard shell and two-way air pump, the air storage bag being sleeved in airtight protection hard shell, jet propulsion cylinder, by jet propulsion cylinder
Inner cavity chamber is separated into the piston of gas chamber and water chamber, and the shut-off valve of the port for opening and closing water chamber；The port of water chamber
Constitute the water flow jet mouth of jet propulsion units；The a port of the port of air storage bag and two-way air pump is double by pipeline connection
It is connected to another port of air pump by pipeline with the port of gas chamber；Buoyancy adjustment unit include jet propulsion cylinder, piston,
Two-way air pump, air storage bag and the pipeline for being connected to them.
It, not only can be latent to this to realize by water suction and draining by configuring air storage bag, two-way air pump and jet propulsion cylinder
The buoyancy of hydrophone is adjusted, and for submersible can provide injection water by Fast marching；And during the injection F.F.,
Its posture is controlled by flexible drive arm and is turned to, and is all from four with F.F. power in the prior art and steering, pose adjustment
Water pump is compared, and is acted more flexible.In addition, air storage bag is placed in airtight protection hard shell, can not only exist to avoid air storage bag
The normal work of peripheral parts is impacted in air-breathing exhaust process, and can be during gas storage, using two-way air pump in gas
Compressed air in privacy protection hard shell and form high pressure, with water flow jet F.F. process, by the high pressure gas in airtight protection hard shell
It is superimposed with the application air pressure of two-way air pump, to provide the injection water that can be provided more than two-way air pump, further increases urgency
Speed when speed is advanced.
It is two-way variable displacement pump that more specific scheme, which is two-way air pump,；Buffering elastic is installed between piston and the chamber end wall of gas chamber
Spring；Air storage bag is elastic balloon；Jet propulsion cylinder is installed on the tail end of watertight body shell, and flexible drive arm is fixed on injection
On the tail end of propulsion cylinder.By the way that buffer spring is arranged, for piston, rapidly movement provides buffering during injection water is radical,
Effectively avoid damaging due to touching cylinder body because hitting.Air storage bag is arranged to elastic balloon, by a part of energy during gas storage
Amount is converted into the elastic deformation energy of air storage bag, be applied in water spray water flow during injection water is radical, effectively reduce and deposits
Store up the decrement of the compressed gas in protection hard shell.
It includes left shell half body, right half-shell body and the splicing end face for being pressed on two half shells that preferred scheme, which is watertight body shell,
Between sealing strip；Control unit and power supply unit are fixed by the bracket in left shell half body, airtight protection hard shell and two-way air pump
It is fixed by the bracket in right half-shell body.According to the function of each unit, equipment is divided into two parts and is arranged respectively at two and half
It in body shell, is not only convenient for assembling, and matches the distribution of two sides weight better.
Another preferred scheme be flexible drive arm medial surface on be installed in a row along its length it is multiple by
The sucker of control unit control.Submersible is improved in the flexibility of bottom movement, and convenient for crawl object.
Preferred scheme is that sucker is Pneumatic suction cup, and the gas port of Pneumatic suction cup is connected by connecting pipeline and gas chamber
It is logical, the shut-off valve controlled by control unit is in series on connecting pipeline.Buoyancy adjustment unit is made full use of to carry out sucker system
Control, efficiently reduces the quantity of components.
Another preferred scheme be watertight body shell front end on be installed with watertight transparent protective shield, the transparent guarantor of watertight
Camera is installed in shield.Convenient for carrying out identification and navigation during traveling, such as SLAM navigation to object.
Another preferred scheme is that the quantity of flexible drive arm is even number, and surround the uniform cloth of circumferential direction of watertight body shell
It sets or the central plane face about watertight body shell is arranged symmetrically.
Another preferred scheme is that electrostrictive element is made or by piezoelectric fabric of ion-exchange polymer metal material
Composite material is made, and flexible arm body is made of dimethyl silicone polymer or silica gel.
Another preferred scheme is to be equipped with flexible antennas at least one flexible drive arm.
Detailed description of the invention
Fig. 1 is the perspective view of the utility model embodiment；
Fig. 2 is the structural schematic diagram of left halfbody of the utility model embodiment after omitting flexible drive arm；
Fig. 3 is the structural schematic diagram of right halfbody of the utility model embodiment after omitting flexible drive arm；
Fig. 4 is the structural schematic diagram of flexible drive arm in the utility model embodiment；
Fig. 5 is the structural schematic diagram that the flexible drive arm of antenna is equipped in the utility model embodiment；
Fig. 6 is the operation principle schematic diagram of actuator on flexible drive arm in the utility model embodiment；
Fig. 7 is the elevational schematic view of the utility model embodiment.
Specific embodiment
With reference to embodiments and its attached drawing the utility model is described in further detail.
Embodiment
Referring to Fig. 1 to Fig. 3, this Bionic flexible arm drive-type submersible 1 includes watertight body shell 2, control unit 10, power supply
Unit 11, the watertight transparent protective shield 12 being water-tightly installed on the front end of watertight body shell 2, installation watertight transparent protective shield
Camera 13 in 12 and the buoyancy adjustment unit and power unit by the control of control unit 10, power supply unit 11 are entire diving
The normal work of device provides electric energy, and control unit 10 and power supply unit 11 are installed in the inner cavity chamber of watertight body shell 2.
Watertight body shell 2 is cylinder shell structure closed at both ends, is made of high-intensitive titanium alloy material, including a left side
Half shell 21, right half-shell body 22 and the sealing strip being pressed between the splicing end face of two half shells.Watertight transparent protective shield 12 is half
Spherical shell structure is made of high-intensitive pmma material, is equipped in the center of the front end of watertight body shell 2 for pacifying
The through-hole 201 on wiring road, camera 13 are 360 degree of cameras, for carrying out target identification to object and providing SLAM navigation
Deng.Watertight body shell 2 and the specific size of watertight transparent protective shield 12 are selected according to actual condition, in the present embodiment,
The outer diameter of watertight transparent protective shield 12 is 60 millimeters, with a thickness of 5 millimeters；The outer diameter of watertight body shell 2 is 80 millimeters, is highly 80
Millimeter, with a thickness of 5 millimeters.
Power unit includes the six roots of sensation flexible drive arm 31 to 36 being mounted on the tail end of watertight body shell 2, and is whole
The rapidly F.F. of a submersible provides the jet propulsion units of rapidly injection water.
As shown in Figures 2 and 3, jet propulsion units include the airtight guarantor being mounted in the inner cavity chamber 220 of right half-shell body 22
Hard shell 41, two-way air pump 42 and pump driving motor 43 are protected, the air storage bag 44 being sleeved in airtight protection hard shell 41 is water-tightly fixed
Jet propulsion cylinder 5 on the tail end of watertight body shell 2, by the inner cavity chamber 50 of jet propulsion cylinder 5 be separated into gas chamber 501 with
The piston 45 of water chamber 502, and the shut-off valve 46 of the port 5021 for opening and closing water chamber 502.Shut-off valve 46 is in closed state
When be used for pressure maintaining.
Wherein, air storage bag 44 is elastic balloon, and two-way air pump 42 is two-way variable displacement pump, and the port of air storage bag 44 passes through pipeline
47 are connected to a port of two-way air pump 42, another port of two-way air pump 42 passes through the end of pipeline 48 and gas chamber 501
Mouth connection；Pipeline 48 pass through set on watertight body shell 2 tail end central through hole 202, and with 202 air-tight fit of central through hole
Ground is fixedly connected.Piston 45 can removably mount in jet propulsion cylinder 5 along axial reciprocating, and in piston 45 and gas chamber 501
Chamber end wall 5010 between more buffer springs 49 are installed, to efficiently reduce piston 45 in rapidly pressurized water chamber 502
During water body, rapidly collides the bottom of chamber face 5021 of water chamber 502 and piston 45 or cylinder body is caused to damage, and in jet propulsion
The corresponding position setting of cylinder 5 for detect piston 45 to level detection sensor.In the present embodiment, jet propulsion cylinder 5 uses
High-intensitive titanium alloy material is made, and specific size is that outer diameter is 60 millimeters, is highly 20 millimeters, with a thickness of 5 millimeters；Port
5021 outer diameter is 9 millimeters, with a thickness of 2 millimeters.
For the ease of the distribution of assembling and balance overall weight in manufacture, watertight body shell 2, watertight transparent protective shield 12
It is centrosymmetrically arranged about central axis 101 with jet propulsion cylinder 5, control unit 10 and power supply unit 11 pass through plate-shaped carrier
It is fixed in the inner cavity chamber 210 of left shell half body 21, and airtight protection hard shell 41, two-way air pump 42 and pump motor 43 pass through plate branch
Frame is fixed in right half-shell body 22.Wherein, airtight protection hard shell 41 is for preventing the deformation of air storage bag 44 to watertight body shell 2
The indoor other component in inner cavity affects, and the circuit board of control unit 10 is bolted on plate-shaped carrier, power supply list
The battery pack of member 11 is fixed on plate-shaped carrier by band.
During the work time, the control of control unit 10 pump motor 43 drives two-way air pump 42 to work and controls shut-off valve 46 and beats
It opens, to be pumped into gas to air storage bag 44, the gas in gas chamber 501 is reduced and air pressure reduces, and under the action of extraneous hydraulic pressure,
The volume that water flow is pressed into water chamber 502 from port 5021 and piston 45 is pushed to compress gas chamber 501；At this point, the storage of expansion
The compression of air bag 44 is located at the gas in airtight protection hard shell 41, and the energy for squeezing gas outward is made to be stored in airtight protection hard shell
It is whole in high pressure gas in 41 high pressure gas, in air storage bag 44 and in the elastic air storage bag 44 of deformation, and due to submersible
Volume density increases and can preferably dive into the water；After completing to suck water flow, 46 close port 5021 of shut-off valve is controlled to protect
Pressure.To carry out injection water rapidly to advance, then controls shut-off valve 46 and open port 5021, pumped outside two-way 42 counter steer of air pump
Air-flow out, and air-flow high speed extrusion is pushed using the energy being stored on high pressure gas and elastic balloon, to push piston 45
It is rapidly mobile towards the direction for squeezing water chamber 502, by make to be stored in the indoor water body of water cavity by a manner of rapidly water flow from end
Mouth 5021 squeezes out, i.e. the water flow jet mouth of the port 5021 composition jet propulsion units；At this point, entire submersible subtracts due to gravity
Less and convenient for emerging.Certainly, air-flow high speed extrusion is pushed using the energy being stored on high pressure gas and elastic balloon,
So as to which two-way air pump 42 is opened as a switch.
That is the buoyancy adjustment unit of this submersible includes jet propulsion cylinder 5, piston 45, two-way air pump 42, pump motor 43, storage
Air bag 44 and pipeline 47,48 for being connected to them.With in the present embodiment, buoyancy adjustment unit and jet propulsion units be by
Same parts composition, it is this to design the space use for improving submersible, it can also reduce its weight.
As shown in Fig. 1, Fig. 4 and Fig. 5, the structure and the complete phase of structure of flexible drive arm 31 of flexible drive arm 33 to 36
Together, it is illustrated by taking the structure of flexible drive arm 31 as an example, flexible drive arm 31 is including flexible arm body 310 and is wrapped in flexibility
Actuator 311 in arm body 310 and for driving 310 bending deformation of flexible arm body, actuator 311 are by ion-exchange polymer gold
Belong to electrostrictive element made of material (IPMC) or piezoelectric fibre composite material.As shown in fig. 6, alive effect outside
Under, electrostrictive element will generate bending deformation, will drive the synchronous bending deformation of flexible arm body 310 wrapped outside；If
Under the action of alternating voltage, flexible drive arm 31 will alternatively swinging in an opposite direction, to realize that reciprocally bending deformation is swung
And water body is patted, thus the bat water sport of mimic biology arm, such as octopus feeler, to realize the propulsion to submersible, and can lead to
Cross control swaying phase between different flexible drive arms, rate of bending and certain torque is formed to entire submersible and is changed
Its posture, speed and steering.It is installed with multiple suckers 312 in a row along its length on the medial surface of flexible arm body 310,
For grabbing target object.
The structure of flexible drive arm 32 and the structure of flexible drive arm 31 are essentially identical, also include flexible arm body 320, installation
A row in flexible arm body 320 and for driving the actuator 321 of 320 bending deformation of flexible arm body and being arranged on medial surface
Sucker 322 is only embedded with a flexible antennas 323 in flexible arm body 320, convenient for submersible on sea and satellite communication with reality
Existing data downloading and motion positions, flexible antennas 323 specifically use the microstrip antenna of strip, the communication module with submersible
Electrical connection.
In the present embodiment, flexible arm body is made of dimethyl silicone polymer (PDMS) or silica gel, whole substantially strip
The frustum structure of shape, overall height are 85 millimeters, and 10 millimeters of top diameter, base diameter is 4 millimeters.
For sucker, with the marine organisms haliotis discus hannai Ino with splendid absorption property for bionical prototype, global shape is in leakage
The flexible fiber that diameter is 0.5 micron, length is 3.5 microns, density is 55/square micron is distributed in bucket shape, bottom surface,
To realize bionical absorption and target acquistion function.It of courses, Pneumatic suction cup can be set by sucker, the gas port of the Pneumatic suction cup
It is connected to by connecting pipeline with gas chamber 501, and is in series with the shut-off valve controlled by control unit 10 on the connecting pipeline, tool
Body running process is, after 46 close port 5021 of shut-off valve, makes the volume of gas chamber 501 keep stablizing, just passes through two-way gas
The absorption or release of 42 control Pneumatic suction cup of pump, and the shut-off valve by being located on communicating pipe ends and remains Pneumatic suction cup
Adsorbed state or release conditions.
In above-mentioned component, it is sealed using ring flange with O-ring between watertight transparent protective shield 12 and watertight body shell 2
Connection, watertight body shell 2 are also connected and sealed using ring flange with O-ring with jet propulsion cylinder 5.As shown in fig. 7, six soft
Property actuating arm be arranged symmetrically about 102 face of central plane, it is both adjacent and between three flexible drive arms of median plane side
Between angle it is equal, the top end part of flexible drive arm is installed on the tail end of jet propulsion cylinder 5, and jet propulsion cylinder 53 and six
Flexible arm is all made of epoxy resin potting connection.It of courses, six roots of sensation flexible drive arm can be provided around to watertight body shell 2
Be arranged circumferentially.In addition, flexible drive arm can be arranged to land in the case where being greater than predetermined pull effect from junction is disconnected
It is mounted on the tail end of jet propulsion cylinder 5, so as to the big pulling force provided using injection water, so that entire submersible and quilt
The flexible drive arm snarled separates and gets rid of quagmire, and specific scheme is that junction is arranged in the case where being greater than the predetermined pull
Fracture is returned, and conducting wire is detachably connected by plug connector.
As shown in fig. 7, during the work time, applying voltage to the electrostrictive element of flexible drive arm 31,33,34 and 36
Direction be radial, and to the electrostrictive element of flexible drive arm 32 and 35 apply voltage direction be it is tangential, so as to pass through
Six flexible drive arm driving submersibles move in 6 freedom degrees, specific to control are as follows:
(1) use alternating source, control flexible drive arm 31,32,33 and 34,35,36 with identical frequency, from identical first phase
Position setting in motion, realizes the forward travel of submersible.By controlling the size and frequency of driving voltage, adjustable advance speed
Rate.
(2) use alternating source, control flexible drive arm 31 and 36 with identical frequency, from identical initial phase setting in motion,
Realize the dive campaign of submersible.By controlling the size and frequency of driving voltage, adjustable dive rate.
(3) use alternating source, control flexible drive arm 33 and 34 with identical frequency, from identical initial phase setting in motion,
Realize the lifting campaign of submersible.By controlling the size and frequency of driving voltage, adjustable uplift rate.
(4) alternating source is used, control flexible drive arm 31,32,33 is transported with identical frequency, since identical initial phase
It is dynamic, realize the counterclockwise motion of submersible；On the contrary, control flexible drive arm 34,35,36 is opened with identical frequency, from identical initial phase
Begin to move, realizes the right turn movements of submersible.By controlling the size and frequency of driving voltage, adjustable corresponding movement speed
Rate.
(5) DC power supply is used, and guarantees that high voltage and zero-pressure are alternately present by suitable frequency, controls flexible drive arm
32 and 35 realize longitudinal rotary motion of submersible from opposite initial phase setting in motion with identical frequency.Pass through control driving electricity
The speed of rotation is adjusted in the size and frequency of pressure.
In order to improve the movenent performance of the utility model submersible in water, whole outer surface is streamlined structure.
Claims (10)
1. a kind of Bionic flexible arm drive-type submersible, including watertight body shell, are mounted on the inner cavity chamber of the watertight body shell
Interior control unit and power supply unit, and the buoyancy adjustment unit and power unit that are controlled by described control unit；
It is characterized by:
The power unit includes the flexible drive arm being mounted on the tail end of the watertight body shell, the flexible drive arm
Quantity be three or more；
The flexible drive arm includes flexible arm body and is mounted in the flexible arm body and for driving the flexible arm body curved
The actuator of song deformation, the actuator includes electrostrictive element.
2. Bionic flexible arm drive-type submersible according to claim 1, it is characterised in that:
The power unit includes jet propulsion units；The jet propulsion units are indoor airtight including being mounted on the inner cavity
Hard shell and two-way air pump are protected, the air storage bag being sleeved in the airtight protection hard shell, jet propulsion cylinder, by the jet propulsion
The inner cavity chamber of cylinder is separated into the piston of gas chamber and water chamber, and the shut-off valve of the port for opening and closing the water chamber；It is described
The port of water chamber constitutes the water flow jet mouth of the jet propulsion units；
The a port of the port of the air storage bag and the two-way air pump by pipeline connection, the two-way air pump another
Port is connected to by pipeline with the port of the gas chamber；
The buoyancy adjustment unit includes the jet propulsion cylinder, the piston, the two-way air pump, the air storage bag and is used for
It is connected to their pipeline.
3. Bionic flexible arm drive-type submersible according to claim 2, it is characterised in that:
The two-way air pump is two-way variable displacement pump；Buffer spring is installed between the piston and the chamber end wall of the gas chamber；Institute
Stating air storage bag is elastic balloon；
The jet propulsion cylinder is installed on the tail end of the watertight body shell, and the flexible drive arm is fixed on the injection
On the tail end of propulsion cylinder.
4. Bionic flexible arm drive-type submersible according to claim 2, it is characterised in that:
The watertight body shell includes left shell half body, right half-shell body and the sealing strip being pressed between the splicing end face of two half shells；
Described control unit and the power supply unit are fixed by the bracket in the left shell half body, the airtight protection hard shell and
The two-way air pump is fixed by the bracket in the right half-shell body.
5. according to Bionic flexible arm drive-type submersible described in any one of claim 2 to 4 claim, it is characterised in that:
It is installed on the medial surface of the flexible drive arm and multiple to be controlled by described control unit in a row along its length
Sucker.
6. Bionic flexible arm drive-type submersible according to claim 5, it is characterised in that:
The sucker is Pneumatic suction cup, and the gas port of the Pneumatic suction cup is connected to by connecting pipeline with the gas chamber, described
The shut-off valve controlled by described control unit is in series on connecting pipeline.
7. according to claim 1 to Bionic flexible arm drive-type submersible described in any one of 4 claims, it is characterised in that:
It is installed with watertight transparent protective shield on the front end of the watertight body shell, is equipped with and takes the photograph in the watertight transparent protective shield
As head.
8. according to claim 1 to Bionic flexible arm drive-type submersible described in any one of 4 claims, it is characterised in that:
The quantity of the flexible drive arm is even number, and being arranged circumferentially or around the watertight body shell about the water
The central plane face of close body shell is arranged symmetrically.
9. according to claim 1 to Bionic flexible arm drive-type submersible described in any one of 4 claims, it is characterised in that:
The electrostrictive element is made of ion-exchange polymer metal material or is made of piezoelectric fibre composite material, described soft
Property arm body is made of dimethyl silicone polymer or silica gel.
10. according to claim 1 to Bionic flexible arm drive-type submersible described in any one of 4 claims, it is characterised in that:
Flexible antennas is installed in flexible drive arm described at least one.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820667593.0U CN208216956U (en) | 2018-05-07 | 2018-05-07 | A kind of Bionic flexible arm drive-type submersible |
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| CN201820667593.0U CN208216956U (en) | 2018-05-07 | 2018-05-07 | A kind of Bionic flexible arm drive-type submersible |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108622347A (en) * | 2018-05-07 | 2018-10-09 | 中国石油大学(华东) | A kind of Bionic flexible arm drive-type submersible |
| CN112406096A (en) * | 2020-11-23 | 2021-02-26 | 华中科技大学 | Active wettability adjusting device and preparation method thereof |
-
2018
- 2018-05-07 CN CN201820667593.0U patent/CN208216956U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108622347A (en) * | 2018-05-07 | 2018-10-09 | 中国石油大学(华东) | A kind of Bionic flexible arm drive-type submersible |
| CN108622347B (en) * | 2018-05-07 | 2023-10-13 | 中国石油大学(华东) | Bionic flexible arm driving type submersible |
| CN112406096A (en) * | 2020-11-23 | 2021-02-26 | 华中科技大学 | Active wettability adjusting device and preparation method thereof |
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