Bionic robot, preparation method thereof, overheating monitoring device and overheating monitoring method

Abstract

The invention provides a bionic robot, a preparation method of the bionic robot, an overheating monitoring device and an overheating monitoring method, and belongs to the field of instrument detection. The invention provides a bionic robot. The bionic robot comprises a base disc and a plurality of tentacles located on the base disc. The base plate comprises a first temperature-sensitive hydrogel and a bimodal light response material dispersed in the first temperature-sensitive hydrogel; the tentacle comprises a second temperature-sensitive hydrogel and a bimodal light response film coated on the top surface of the second temperature-sensitive hydrogel; the bimodal photoresponse material and the bimodal photoresponse film have the photothermal response characteristic and the photoelectric response characteristic. The overheating monitoring device manufactured by the bionic robot can adapt to complex environments, and is low in cost, capable of achieving real-time monitoring and early warning.

Description

Technical Field

[0001] This invention relates to the field of instrument testing, specifically to a biomimetic robot and its preparation method, an overheat monitoring device, and an overheat monitoring method. Background Technology

[0002] With the unprecedented rapid development of modern industry, industrial safety issues have become increasingly important. Among them, overheating, as a common and highly dangerous potential hazard in many industrial scenarios, seriously threatens the safety and stability of industrial production.

[0003] Traditional overheat monitoring methods, such as thermocouples and infrared thermal imagers, have many limitations in practical applications. For example, electrical parameter detection methods estimate component temperature by monitoring changes in the electrical parameters of the instrument, but accurate measurement is difficult to achieve; thermocouples usually require direct contact with the monitored object, making them challenging to monitor components with complex shapes; while infrared thermal imagers can achieve non-contact monitoring, they are greatly affected by environmental factors and struggle to accurately monitor small areas. Furthermore, most of these traditional monitoring devices employ rigid structural designs, making them ill-suited for certain specialized industrial environments, such as confined spaces, complex pipelines, and irregular surfaces, thus limiting their application in actual industrial production. Summary of the Invention

[0004] This invention provides a biomimetic robot and its preparation method, an overheat monitoring device, and an overheat monitoring method. The overheat monitoring device prepared using the biomimetic robot of this invention can adapt to complex environments, is low-cost, and provides real-time monitoring and early warning.

[0005] This invention provides a biomimetic robot, including a base disk and a plurality of tentacles located on the base disk; The tentacle comprises a first thermosensitive hydrogel and a bimodal photoresponsive film coated on the top surface of the first thermosensitive hydrogel; the base plate comprises a second thermosensitive hydrogel and a bimodal photoresponsive material dispersed in the second thermosensitive hydrogel; The dual-mode photoresponsive material and dual-mode photoresponsive film have photothermal response characteristics and photoelectric response characteristics.

[0006] Preferably, the tentacle has a cylindrical shape; the base disk is bonded to the tentacle with fibrin adhesive; The base plate has a length of 20mm or more, a width of 4mm or more, and a thickness of 3mm or more; Each tentacle is over 14 mm long and over 2 mm in diameter; The total number of tentacles is 6, arranged in a 3×2 pattern.

[0007] Preferably, the mass content of the dual-mode photoresponsive material in the substrate is 7.5-8%, and the mass content of water is 50-65%. The mass content of the dual-mode photoresponsive film in the tentacles is 2-3%, and the mass content of water is 50-65%.

[0008] Preferably, the bimodal photoresponsive material and the bimodal photoresponsive film comprise a mixture of BP nanosheets and WS2 nanosheets; The mass ratio of BP nanosheets to WS2 nanosheets is 1:8~9.

[0009] The present invention also provides a method for preparing the biomimetic robot described in the above technical solution, comprising the following steps: The first temperature-sensitive monomer, the first photoinitiator and the first solvent are mixed and poured into a mold to carry out the first crosslinking reaction. The resulting crosslinking product is then subjected to the first photocuring to obtain the first colloid. The first colloid was immersed in water to swell, thus obtaining the first thermosensitive hydrogel; After the first thermosensitive hydrogel is bonded to the base plate, a dispersion of a bimodal photoresponsive film is coated on the top surface of the first thermosensitive hydrogel and then dried to form tentacles, thus obtaining the biomimetic robot.

[0010] Preferably, the method for preparing the base disk includes the following steps: The dispersion of the second temperature-sensitive monomer, the second photoinitiator, the dual-modal photoresponsive material, and water were mixed and poured into a mold to carry out the second crosslinking reaction. The resulting crosslinking product was then subjected to a second photocuring to obtain the second colloid. The second colloid is immersed in water to swell, thus obtaining the base plate.

[0011] Preferably, the first and second temperature-sensitive monomers comprise N-isopropylacrylamide and methacrylamide; The molar ratio of N-isopropylacrylamide to methacrylamide is 25~28:1.

[0012] Preferably, the molar ratio of the first temperature-sensitive monomer to the first photoinitiator and the molar ratio of the second temperature-sensitive monomer to the second photoinitiator are independently 125~130:1, and the first and second photoinitiators comprise diphenyl(2,4,6-trimethylbenzoyl)phosphine oxide.

[0013] The present invention also provides an overheat monitoring device, including a driving light source, a bionic robot, a current measuring chip connected to the movable pins of the bionic robot, and a plurality of movable pins located on the base plate, wherein the height of the movable pins is lower than the height of the adjacent tentacles, so that the adjacent tentacles retract and contact the movable pins. The bionic robot is a bionic robot prepared by the above-described technical solution or the preparation method described in the above-described technical solution.

[0014] The above-mentioned technical solution provides an overheat monitoring method, characterized by comprising the following steps: The bionic robot in the above technical solution is placed in the instrument and the driving light source is shone on the base plate for inspection. The overheating is determined by whether the current measuring chip receives the signal transmitted by the active pin. The position of the driving light source illuminating the base plate is in the direction of the inspection.

[0015] This invention innovatively utilizes a material with dual-modal photothermal and photoelectric responses, causing the base plate to contract under the illumination of a driving light source and move in any direction within the instrument. The laser irradiation position and time can be flexibly adjusted according to the internal structure of the instrument and potential overheating areas, allowing the robot to perform targeted and comprehensive inspections of the instrument's interior. When encountering an overheated area during movement, the dual-modal photoresponsive film at the tip of the tentacle senses the infrared radiation emitted by the overheated area, generating a photothermal response that causes the tentacle to contract, thus bringing it into contact with the movable pin at the bottom. At this point, the current signal generated by the photoelectric response of the photoresponsive film can be transmitted outward through this movable pin, thereby reporting the overheating risk.

[0016] This invention breaks through the limitations of traditional preparation methods and proposes a simple, efficient, and economical method for preparing a dual-function biomimetic hydrogel robot through design and process optimization.

[0017] This invention effectively proposes an overheating monitoring method based on the above-mentioned biomimetic hydrogel robot for use in complex environments, providing a comprehensive, accurate, and flexible new solution for instrument overheating fault monitoring. Attached Figure Description

[0018] Figure 1 This is a thermal image of the temperature change of BP / WS2 under illumination in the embodiment; Figure 2 This is a graph showing the photocurrent curves generated by BP / WS2 under illumination in multiple wavelength bands in the embodiment; Figure 3 This is a comparison chart of the photoelectric response of BP / WS2 under different light intensities in the embodiment; Figure 4 A physical image of the biomimetic hydrogel robot provided for the embodiments; Figure 5 Thermal imaging of the composite hydrogel provided in the embodiment under light illumination; Figure 6 Temperature change of the flexible composite hydrogel provided in the embodiment under switching light irradiation cycle; Figure 7 A diagram showing the shape change of the biomimetic hydrogel robot base plate portion provided in the embodiment under illumination by a driving light source; Figure 8 A diagram showing the bending angle change of the biomimetic hydrogel robot base plate portion provided in the embodiment under switching light irradiation cycles; Figure 9 A diagram showing the shape change of the biomimetic hydrogel robot tentacle portion under infrared radiation, provided in an embodiment. Figure 10 The graph shows the changes in photocurrent generated by the biomimetic hydrogel robot tentacles under infrared radiation at different temperatures, as provided in the example. Detailed Implementation

[0019] This invention provides a biomimetic robot, including a base disk and a plurality of tentacles located on the base disk; The tentacle comprises a first thermosensitive hydrogel and a bimodal photoresponsive film coated on the top surface of the first thermosensitive hydrogel; the base plate comprises a second thermosensitive hydrogel and a bimodal photoresponsive material dispersed in the second thermosensitive hydrogel; The dual-mode photoresponsive material and dual-mode photoresponsive film have photothermal response characteristics and photoelectric response characteristics.

[0020] The biomimetic robot provided by the present invention includes a base disk, the base disk comprising a second thermosensitive hydrogel and a bimodal photoresponsive material dispersed in the second thermosensitive hydrogel.

[0021] The base disk is preferably rectangular, with a length of at least 20 mm, a width of at least 4 mm, and a thickness of at least 3 mm. A bimodal photoresponsive material is uniformly dispersed within it. The photothermal response generated under the illumination of the driving light source causes the thermosensitive hydrogel to undergo reversible contraction-extension movements, which in turn propel the entire robot forward through surface friction.

[0022] In this invention, the mass content of the bimodal photoresponse material in the substrate is preferably 7.5-8%, and the bimodal photoresponse material preferably includes a mixture of BP nanosheets and WS2 nanosheets, with the mass ratio of BP nanosheets to WS2 nanosheets preferably being 1:8-9.

[0023] In this invention, the water content in the base plate is preferably 50-65%, more preferably 55% or 60%.

[0024] The biomimetic robot provided by the present invention includes a plurality of tentacles located on the base plate, the tentacles including a first thermosensitive hydrogel and a bimodal photoresponsive film coated on the top surface of the first thermosensitive hydrogel.

[0025] In this invention, the tentacles are preferably cylindrical in shape; the length of a single tentacle is preferably 14 mm or more, and the diameter is preferably 2 mm or more; the total number of tentacles is preferably 6, arranged in a 3×2 configuration. In this invention, the tentacles preferably taper gradually from the base to the tip; the tip is coated with a dual-mode photoresponsive material that can sense infrared radiation, generating a photothermal response that causes the tentacles to contract and transmit a current signal generated by a photoelectric response outwards.

[0026] In this invention, the water content in the tentacles is preferably 50-65%, more preferably 55% or 60%.

[0027] In this invention, the base plate and the tentacles are preferably bonded together with fibrin adhesive.

[0028] The present invention also provides a method for preparing the biomimetic robot described in the above technical solution, comprising the following steps: The first temperature-sensitive monomer, the first photoinitiator and the first solvent are mixed and poured into a mold to carry out the first crosslinking reaction. The resulting crosslinking product is then subjected to the first photocuring to obtain the first colloid. The first colloid was immersed in water to swell, thus obtaining the first thermosensitive hydrogel; After the first thermosensitive hydrogel is bonded to the base plate, a dispersion of a bimodal photoresponsive film is coated on the top surface of the first thermosensitive hydrogel and then dried to form tentacles, thus obtaining the biomimetic robot.

[0029] In this invention, a first temperature-sensitive monomer, a first photoinitiator and a first solvent are mixed and poured into a mold to carry out a first crosslinking reaction. The resulting crosslinking product is then subjected to a first photocuring to obtain a first colloid.

[0030] In this invention, the mixing preferably includes mixing a first temperature-sensitive monomer with a portion of a first solvent to obtain a monomer solution; mixing a first photoinitiator with the remaining first solvent and then mixing the monomer solution with the first photoinitiator and then performing a defoaming treatment.

[0031] In this invention, the mass ratio of the first temperature-sensitive monomer to a portion of the first solvent is preferably 1.2 to 2:1, more preferably 1.5:1 or 1.8:1; the first temperature-sensitive monomer preferably includes N-isopropylacrylamide and methacrylamide; the molar ratio of N-isopropylacrylamide and methacrylamide is preferably 25 to 28:1, more preferably 26:1 or 28:1; the portion of the first solvent preferably includes ethanol and water, and the volume ratio of ethanol to water is preferably 1:1. In this invention, the molar ratio of the first temperature-sensitive monomer to the first photoinitiator is preferably 125-130:1, and the first photoinitiator preferably includes diphenyl(2,4,6-trimethylbenzoyl)phosphine oxide; the mass ratio of the first photoinitiator to the remaining first solvent is preferably 0.02-0.03:1, and the remaining first solvent preferably includes water.

[0032] In this invention, the preferred temperature for the first crosslinking reaction is 5°C, the preferred time is 12 hours, the preferred time for the first photocuring is 10 minutes, and the preferred wavelength for the first photocuring is 395 nm. The crosslinking reaction enables the formation of connection points between polymer molecular chains, transforming the chain-like polymer into a three-dimensional network structure. This structure is the basis for the hydrogel's water absorption and retention capabilities. Photocuring can reduce the inhomogeneity in the crosslinking reaction, resulting in a smart hydrogel structure with precise structure and excellent properties.

[0033] After the first photocuring, the present invention preferably washes the obtained product to obtain the first colloid.

[0034] The present invention does not have any special limitations on the washing process; it is sufficient to rinse off the residual monomers on the surface with deionized water.

[0035] After obtaining the colloid, the present invention immerses the first colloid in water to swell, thereby obtaining the first thermosensitive hydrogel.

[0036] In this invention, the swelling time is preferably 3 hours.

[0037] After obtaining the first temperature-sensitive hydrogel, the present invention adheres the first temperature-sensitive hydrogel to the base plate, coats the top surface of the first temperature-sensitive hydrogel with a dispersion of a bimodal photoresponsive film, and then dries it to form tentacles, thus obtaining the biomimetic robot.

[0038] In this invention, the method for preparing the base disk preferably includes the following steps: The dispersion of the second temperature-sensitive monomer, the second photoinitiator, the dual-modal photoresponsive material, and water were mixed and poured into a mold to carry out the second crosslinking reaction. The resulting crosslinking product was then subjected to a second photocuring to obtain the second colloid. The second colloid is immersed in water to swell, thus obtaining the base plate.

[0039] In this invention, a dispersion of a second temperature-sensitive monomer, a second photoinitiator, a dual-modal photoresponsive material, and water are mixed and poured into a mold to carry out a second crosslinking reaction. The resulting crosslinking product is then subjected to a second photocuring to obtain a colloid.

[0040] In this invention, the mixing preferably includes mixing a dispersion of the second temperature-sensitive monomer and the dual-modal photoresponsive material with a portion of water to obtain a monomer solution; mixing the second photoinitiator with the remaining water and then mixing it with the monomer solution before defoaming treatment.

[0041] In this invention, the second temperature-sensitive monomer preferably includes N-isopropylacrylamide and methacrylamide; the mass ratio of the second temperature-sensitive monomer to a portion of water is preferably 2.465:1; the molar ratio of N-isopropylacrylamide to methacrylamide is preferably 25~28:1. In this invention, the concentration of the dispersion of the dual-modal photoresponsive material is preferably 0.28 mg / mL, and the dispersant is preferably ethanol.

[0042] In this invention, the molar ratio of the second temperature-sensitive monomer to the second photoinitiator is preferably 125-130:1, and the second photoinitiator preferably includes diphenyl (2,4,6-trimethylbenzoyl)phosphine oxide; the ratio of the amount of photoinitiator to water is preferably 0.02-0.03:1.

[0043] In this invention, the temperature of the second crosslinking reaction is preferably 5°C, the time is preferably 12h, the photocuring time is preferably 10min, and the wavelength of the second photocuring time is preferably 395nm.

[0044] After the second photocuring, the present invention preferably washes the obtained product to obtain the second colloid.

[0045] The present invention does not have any special limitations on the washing process; it is sufficient to rinse off the residual monomers on the surface with deionized water.

[0046] After obtaining the second colloid, the present invention immerses the colloid in water to swell, thereby obtaining the base plate.

[0047] In this invention, the swelling time is preferably 3 hours.

[0048] The present invention also provides an overheat monitoring device, including a driving light source, a bionic robot, a current measuring chip connected to the movable pins of the bionic robot, and a plurality of movable pins located on the base plate. The height of the movable pins is lower than the height of the adjacent tentacles, so that the adjacent tentacles retract and contact the movable pins. The bionic robot is a bionic robot prepared by the above-described technical solution or the preparation method described in the above-described technical solution.

[0049] The active pins are fixed on the substrate surface at a height lower than the spin-coated area of ​​the photoresponsive thin film. This is designed to ensure that the tentacles and the active pins do not contact each other under normal conditions, and only make contact when a specific response is triggered by a hot spot.

[0050] In this invention, the driving light source is preferably a point-shaped laser light source. The driving light source precisely illuminates the corresponding part of the base disk, driving the biomimetic hydrogel robot to move in the target direction.

[0051] The current signal generated by the photoresponse thin film due to photoelectric response can be transmitted to the current measurement chip through the active pin. The current measurement chip processes and analyzes the received current signal. Once the current signal exceeds the preset threshold, it can determine that there is an overheating risk inside the instrument and issue an alarm in time. This enables real-time, accurate and convenient monitoring of overheating risks, providing strong technical support for the safe and stable operation of the instrument.

[0052] The present invention also provides an overheat detection method, comprising the following steps: The bionic robot in the above technical solution is placed in the instrument and the driving light source is shone on the base plate for inspection. The overheating is determined by whether the current measuring chip receives the signal transmitted by the active pin. The position of the driving light source illuminating the base plate is in the direction of the inspection.

[0053] The following detailed description, in conjunction with embodiments, illustrates the biomimetic robot and its preparation method, overheat monitoring device, and overheat monitoring method provided by the present invention. However, these descriptions should not be construed as limiting the scope of protection of the present invention.

[0054] Example 1 The Si / SiO2 substrate was placed in acetone and cleaned with an ultrasonic cleaner for 15 min. Then it was rinsed with acetone, anhydrous ethanol and deionized water for 5 min each to remove residual organic matter and impurities on the substrate surface. Finally, it was thoroughly dried in a vacuum drying oven.

[0055] 600 mg of sulfur (S) powder was weighed and placed in a quartz boat as a sulfur source, and 40 mg of tungsten trioxide (WO3) powder was placed in another quartz boat as a tungsten source. The cleaned substrate was placed upside down on top of the WO3 powder. The two quartz boats were placed in a long, one-way open quartz tube and then placed in a dual-temperature tube furnace. Argon gas was introduced as a protective gas. The S powder was heated to 200°C and the WO3 powder was heated to 850°C, and the temperature was maintained for 30 min to allow for complete reaction. After the furnace temperature cooled to room temperature, the substrate was removed and rinsed three times with anhydrous ethanol and deionized water, respectively, to remove surface residues, thus obtaining WS2 nanosheets on a Si / SiO2 substrate.

[0056] 40 mg of black phosphorus (BP) powder was mixed thoroughly with 80 mL of anhydrous ethanol for 4 h to prepare a BP anhydrous ethanol dispersion. The dispersion was placed in a double-layered beaker and sonicated in a cold water bath for 10 h to disrupt the interlayer van der Waals forces. The dispersion was then centrifuged at 5000 rpm for 30 min, and the supernatant was collected to obtain the BP nanosheet dispersion.

[0057] WS2 nanosheets were scraped off from the substrate surface, and 20 mg of WS2 nanosheets were fully dispersed in 80 mL of anhydrous ethanol. Then, they were ultrasonically mixed with BP nanosheet dispersion (containing 2.5 mg of BP nanosheets) for 30 min to obtain a BP / WS2 composite material dispersion with photothermal-photoelectric dual-modal response capability.

[0058] Figure 1 The thermal imaging image shows the temperature change of the photoresponsive material BP / WS2 under illumination, as provided in the embodiment.

[0059] Depend on Figure 1 It can be seen that under 808 nm wavelength light irradiation, the system temperature of this material increases significantly with irradiation time, indicating that it can efficiently realize the conversion of light energy to heat energy.

[0060] Figure 2 The image shows the photocurrent curves generated by BP / WS2 under illumination in multiple wavelength bands in the embodiment.

[0061] like Figure 2 As shown, the material exhibits a certain photoelectric response capability under illumination of different wavelengths, with outstanding photoelectric conversion efficiency in the 405, 610, and 808 nm bands. Furthermore, the photocurrent intensity is positively correlated with the illumination intensity. Figure 3 ).

[0062] Take 4.8 g of N-isopropylacrylamide (NIPAM) powder and 0.13 g of methacrylamide (BIS), add 2 mL of anhydrous ethanol and 2 mL of deionized water, and stir for 30 min to prepare a monomer solution. Take 0.12 g of diphenyl(2,4,6-trimethylbenzoyl)phosphine oxide (TPO), add 5 mL of deionized water to prepare a photoinitiator solution. Quickly mix the two solutions and place them in a vacuum oven to remove air bubbles by vacuuming for 10 min. Pour into a tentacle-shaped mold, refrigerate at 5℃ for 12 h to crosslink into a colloid, and then cure under a 395 nm UV lamp for 10 min.

[0063] For the base plate portion, 2 mL of BP / WS2 composite material dispersion was used instead of anhydrous ethanol. The remaining operations were the same as for the tentacles. After defoaming, the mixture was poured into the base plate mold and refrigerated to form a gel. After refrigerating at 5°C for 12 h, it was removed and cured with a 395 nm UV lamp for 10 min.

[0064] Remove the hydrogel, rinse thoroughly with deionized water to remove residual monomers, and soak in deionized water for 3 hours to allow it to fully swell. Finally, glue the tentacles to the base plate with fibrin glue, let it stand at room temperature for 3 hours, then spin-coat 5 mL of BP / WS2 composite material dispersion onto the tip of the tentacles, and dry under vacuum at 25°C for 48 hours to obtain the desired product. Figure 4 The biomimetic hydrogel robot shown Figure 4 (A physical image of the biomimetic hydrogel robot provided in the embodiment).

[0065] Figure 5 Thermal imaging of the composite hydrogel provided in the embodiment under light illumination; Figure 6 The temperature change graph of the flexible composite hydrogel provided in the example under switching light irradiation cycle.

[0066] Depend on Figures 5-6 It can be seen that under 660 nm illumination, the substrate can continuously and uniformly undergo a temperature rise of approximately 14.4 °C. This temperature rise behavior demonstrates reversibility and stability in periodic switching tests. Figure 6 When any part of the base disk is exposed to specific light, the BP / WS2, due to its excellent photothermal conversion capability, causes the illuminated area to heat up rapidly. Due to the thermosensitive properties of the hydrogel itself, the increased temperature causes the affected area to shrink and warp due to water loss. When the light is turned off, the affected area absorbs water again, expands, and returns to its original shape. This shrinkage-expansion process simulates the contraction-extension of the base disk under the action of muscles during the movement of a sea anemone. Under the action of surface friction, this allows the biomimetic hydrogel robot to perform walking movements similar to those of a sea anemone, such as... Figure 7 As shown ( Figure 7 The diagram shows the shape change of the biomimetic hydrogel robot base plate provided in the embodiment under illumination by a driving light source. This change has been proven to be reversible, as shown in the figure. Figure 8 As shown, the base plate can stably achieve stable bending and recovery within at least five cycles. Figure 8 (Graph showing the bending angle change of the biomimetic hydrogel robot base plate portion under switching light irradiation cycle provided in the embodiment).

[0067] Based on a similar principle, the base and tentacles tend to undergo two different deformation patterns due to their different shapes and irradiation methods. When irradiated with near-infrared light at a wavelength of 808 nm to simulate the thermal radiation of an object, the tentacles will undergo the following... Figure 9 contraction-stretch cycle ( Figure 9 (This is a diagram showing the shape change of the biomimetic hydrogel robot tentacle under infrared radiation, as provided in the embodiment). The movable pins fixed to the base surface are lower than the BP / WS2 film coating area; therefore, there is no contact between them in the absence of infrared radiation, and no current flows in the circuit. Only when the tentacle senses near-infrared radiation emitted by the hot spot does the BP / WS2 photothermally drive the tentacle to contract, allowing the BP / WS2 film at the tip to contact the movable pins and transmit electrical signals. Figure 10 As shown, there is no current in the circuit when there is no contact, but when there is contact, the current value in the circuit changes with the light intensity.

[0068] Figure 10 The graph shows the changes in photocurrent generated by the biomimetic hydrogel robot tentacles under infrared radiation at different temperatures, as provided in the example.

[0069] In summary, within the complex piping systems of various large instruments, biomimetic hydrogel robots can achieve movement under light-driven propulsion and rapidly generate electrical signals upon sensing near-infrared radiation emitted by overheating points, thus reporting overheating risks. Due to its excellent flexibility and deformability, this robot can adapt well to complex environments and confined spaces. It can flexibly bypass obstacles, smoothly traverse curved and narrow pipes, and reach locations inaccessible to traditional detection equipment, demonstrating its application potential as a type of overheat monitoring robot.

[0070] Employing an environmentally friendly light-driven approach, the biomimetic hydrogel robot proposed in this invention is not only simple in structure and fabrication process but also inexpensive. More importantly, it can continuously move and monitor within the pipeline during instrument operation, capturing temperature changes in real time and with precision. Compared to traditional periodic or fixed-point monitoring methods, it can promptly detect early signs of overheating faults, issuing alarms before the fault develops into a serious problem, thus effectively preventing further deterioration and ensuring the safe and stable operation of the instrument. In summary, with its advantages of adaptability to complex environments, low cost, real-time monitoring, and early warning, the proposed biomimetic hydrogel robot provides an efficient, reliable, and superior solution to overheating fault detection compared to traditional methods.

[0071] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A biomimetic robot, characterized in that, Includes a base disk and several tentacles located on the base disk; The tentacle comprises a first thermosensitive hydrogel and a bimodal photoresponsive film coated on the top surface of the first thermosensitive hydrogel; the base plate comprises a second thermosensitive hydrogel and a bimodal photoresponsive material dispersed in the second thermosensitive hydrogel; The dual-mode photoresponsive material and dual-mode photoresponsive film have photothermal response characteristics and photoelectric response characteristics.

2. The bionic robot according to claim 1, characterized in that, The tentacles are cylindrical in shape; the base disk is bonded to the tentacles with fibrin adhesive. The base plate has a length of 20mm or more, a width of 4mm or more, and a thickness of 3mm or more; Each tentacle is over 14 mm long and over 2 mm in diameter; The total number of tentacles is 6, arranged in a 3×2 pattern.

3. The bionic robot according to claim 1, characterized in that, The substrate contains 7.5-8% by mass of dual-mode photoresponsive material and 50-65% by mass of water. The mass content of the dual-mode photoresponsive film in the tentacles is 2-3%, and the mass content of water is 50-65%.

4. The bionic robot according to claim 1 or 3, characterized in that, The bimodal photoresponsive material and bimodal photoresponsive film include a mixture of BP nanosheets and WS2 nanosheets; The mass ratio of BP nanosheets to WS2 nanosheets is 1:8~9.

5. The method for manufacturing the bionic robot according to any one of claims 1 to 4, characterized in that, Includes the following steps: The first temperature-sensitive monomer, the first photoinitiator and the first solvent are mixed and poured into a mold to carry out the first crosslinking reaction. The resulting crosslinking product is then subjected to the first photocuring to obtain the first colloid. The first colloid was immersed in water to swell, thus obtaining the first thermosensitive hydrogel; After the first thermosensitive hydrogel is bonded to the base plate, a dispersion of a bimodal photoresponsive film is coated on the top surface of the first thermosensitive hydrogel and then dried to form tentacles, thus obtaining the biomimetic robot.

6. The preparation method according to claim 5, characterized in that, The method for preparing the base disk includes the following steps: The dispersion of the second temperature-sensitive monomer, the second photoinitiator, the dual-modal photoresponsive material, and water were mixed and poured into a mold to carry out the second crosslinking reaction. The resulting crosslinking product was then subjected to a second photocuring to obtain the second colloid. The second colloid is immersed in water to swell, thus obtaining the base plate.

7. The preparation method according to claim 6, characterized in that, The first and second temperature-sensitive monomers include N-isopropylacrylamide and methacrylamide; The molar ratio of N-isopropylacrylamide to methacrylamide is 25~28:

1.

8. The preparation method according to claim 6, characterized in that, The molar ratio of the first temperature-sensitive monomer to the first photoinitiator and the molar ratio of the second temperature-sensitive monomer to the second photoinitiator are independently 125~130:1, and the first and second photoinitiators include diphenyl(2,4,6-trimethylbenzoyl)phosphine oxide.

9. An overheat monitoring device, characterized in that, It includes a driving light source, a bionic robot, a current measuring chip connected to the movable pins of the bionic robot, and several movable pins located on the base plate. The height of the movable pins is lower than the height of the adjacent tentacles, so that the adjacent tentacles can contact the movable pins after retracting. The biomimetic robot is a biomimetic robot prepared by the preparation method described in any one of claims 1 to 4 or any one of claims 5 to 8.

10. A method for monitoring overheating, characterized in that, Includes the following steps: The bionic robot of claim 9 is placed in the instrument and the driving light source is irradiated on the base plate for inspection. The overheating is determined based on whether the current measuring chip receives the signal transmitted by the active pin. The position of the driving light source illuminating the base plate is in the direction of the inspection.

Images