Solid hydrogen energy system and hydrogen-powered humanoid robot

Abstract

The invention discloses a solid hydrogen energy system and a hydrogen power humanoid robot, and relates to the technical field of heat exchange, the system comprises a solid hydrogen storage device and a hydrogen fuel cell, the solid hydrogen storage device and the hydrogen fuel cell are connected through a circulating device, and the circulating device comprises a circulating pipeline, a circulating pump, a radiator, a cooling plate and a heating device; the cooling plate and the heating device are respectively arranged outside the hydrogen fuel cell and the solid hydrogen storage device, the cooling plate absorbs heat generated by the hydrogen fuel cell, and the heat is transferred to the heating device through the heat-conducting medium flowing out of the circulating pipeline so as to heat the solid hydrogen storage device. The solid hydrogen storage device is heated by using heat generated during power generation of the hydrogen fuel cell, so that the heat dissipation problem of the hydrogen fuel cell is solved, assistance is provided for heating and hydrogen release of the solid hydrogen storage device, and stable hydrogen release of the solid hydrogen storage device is ensured.

Description

Technical Field

[0001] The present application relates to the field of heat exchange technology, and in particular to a solid-state hydrogen energy system and a hydrogen-powered humanoid robot. Background Art

[0002] Hydrogen energy is a clean energy source. Using gaseous or liquid hydrogen as battery fuel can greatly shorten the battery recharging time and, to a certain extent, promote the use of electric-powered equipment such as humanoid robots.

[0003] At present, all mobile electronic devices are driven by traditional batteries, such as lithium batteries. Although lithium batteries are convenient to use, they take a long time to recharge and are sensitive to temperature changes. Hydrogen fuel cells can better solve various problems existing in electronic devices using lithium batteries. Hydrogen fuel cells are divided into a battery part and a hydrogen storage part. The hydrogen storage part currently uses a high-pressure container, and the pressure is usually 300-700bar. Obviously, high-pressure containers have a great risk of leakage, which in turn leads to greater safety hazards.

[0004] Solid-state hydrogen storage technology can solve this problem better. Solid-state hydrogen storage technology uses materials that can combine with hydrogen to make solid-state hydrogen storage devices. When hydrogen is injected, it can stably combine with the materials in the solid-state hydrogen storage device. These materials can release hydrogen after heating, so there is no need to store hydrogen at high pressure, and the pressure is greatly reduced. However, the release rate of the solid-state hydrogen storage device depends on the temperature, so it needs to be heated when released, so an additional heater is needed, which undoubtedly increases the weight and volume of the electronic equipment. Summary of the invention

[0005] The embodiments of the present application provide a solid-state hydrogen energy system and a hydrogen-powered humanoid robot to solve the problem in the prior art that a solid-state hydrogen storage device needs to be provided with an additional heater.

[0006] On the one hand, an embodiment of the present application provides a solid-state hydrogen energy system, including a solid-state hydrogen storage device and a hydrogen fuel cell, the solid-state hydrogen storage device and the hydrogen fuel cell are connected through a circulation device, and a heater is also provided on the solid-state hydrogen storage device. The circulation device includes a circulation pipeline, a circulation pump, a radiator, a cooling plate and a heating device. The circulation pipeline includes an outflow circulation pipeline and an inflow circulation pipeline. The cooling plate and the heating device are respectively arranged on the outside of the hydrogen fuel cell and the solid-state hydrogen storage device. The circulation pump and the radiator are connected to the outflow circulation pipeline in sequence, and the two ends of the outflow circulation pipeline are respectively connected to the cooling plate and the heating device, and the two ends of the inflow circulation pipeline are also respectively connected to the cooling plate and the heating device. The cooling plate absorbs the heat generated during the power generation process of the hydrogen fuel cell, and transfers the heat to the heating device through the heat-conducting medium in the outflow circulation pipeline to heat the solid-state hydrogen storage device. When the temperature required by the solid-state hydrogen storage device is higher than the temperature provided by the heating device, the heater works to assist in heating. When the temperature required by the solid-state hydrogen storage device is lower than the temperature provided by the heating device, the radiator works to cool the heat-conducting medium in the outflow circulation pipeline.

[0007] On the other hand, an embodiment of the present application also provides a hydrogen-powered humanoid robot, including a head, a torso and limbs, and a solid-state hydrogen energy system is arranged on the torso.

[0008] A solid-state hydrogen energy system and a hydrogen-powered humanoid robot in this application have the following advantages: The heat generated by the hydrogen fuel cell during power generation is used to heat the solid-state hydrogen storage device, which not only solves the heat dissipation problem of the hydrogen fuel cell, but also helps the solid-state hydrogen storage device to heat and release hydrogen, ensuring the smooth release of hydrogen from the solid-state hydrogen storage device and improving the system energy efficiency by more than 10%. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 A schematic diagram of the composition of a solid-state hydrogen energy system provided in an embodiment of the present application; Figure 2 A schematic structural diagram of a hydrogen-powered humanoid robot provided in an embodiment of the present application.

[0011] Description of the accompanying drawings: 100, trunk; 200, protective shell. DETAILED DESCRIPTION

[0012] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0013] Figure 1 A schematic diagram of the composition of a solid-state hydrogen energy system provided in an embodiment of the present application. The embodiment of the present application provides a solid-state hydrogen energy system, including a solid-state hydrogen storage device and a hydrogen fuel cell, the solid-state hydrogen storage device and the hydrogen fuel cell are connected by a circulation device, a heater is also provided on the solid-state hydrogen storage device, the circulation device includes a circulation pipeline, a circulation pump, a radiator, a cooling plate and a heating device, the circulation pipeline includes an outflow circulation pipeline and an inflow circulation pipeline, the cooling plate and the heating device are respectively arranged outside the hydrogen fuel cell and the solid-state hydrogen storage device, the circulation pump and the radiator are connected to the outflow circulation pipeline in turn, the two ends of the outflow circulation pipeline are respectively connected to the cooling plate and the heating device, and the two ends of the inflow circulation pipeline are also respectively connected to the cooling plate and the heating device, the cooling plate absorbs the heat generated during the power generation process of the hydrogen fuel cell, and transfers the heat to the heating device through the heat-conducting medium in the outflow circulation pipeline to heat the solid-state hydrogen storage device, when the temperature required by the solid-state hydrogen storage device is higher than the temperature provided by the heating device, the heater works to assist in heating, and when the temperature required by the solid-state hydrogen storage device is lower than the temperature provided by the heating device, the radiator works to cool the heat-conducting medium in the outflow circulation pipeline.

[0014] Exemplarily, the solid-state hydrogen storage device is a cylindrical structure, and the heating device is surrounded by a spiral pipe on the outer side of the solid-state hydrogen storage device to transfer the heat in the heat transfer medium to the solid-state hydrogen storage device. The cooling plate is also surrounded by the outer side of the hydrogen fuel cell, and a large number of microchannel structures are arranged inside the cooling plate. By setting the microchannel structure, the time for the heat transfer medium to flow inside the cooling plate can be greatly increased, thereby improving the efficiency of the heat transfer medium to absorb heat, and finally the heat transfer medium after absorbing heat and heating up is transported to the circulation pipe.

[0015] In an embodiment of the present application, the heat-conducting medium is a fluid with low boiling point, low viscosity and high specific heat capacity, such as an ethylene glycol aqueous solution with carbon nanotubes added, which can ensure good fluidity and thermal conductivity at the operating temperature of the system.

[0016] This application integrates a solid-state hydrogen storage device and a hydrogen fuel cell, and uses the heat generated by the hydrogen fuel cell to provide the solid-state hydrogen storage device with the heat required for hydrogen release, while solving the two major problems of heat dissipation of the hydrogen fuel cell and heating of the solid-state hydrogen storage device. The closed-loop thermal cycle method is adopted to greatly reduce the power of the external heater, thereby reducing the weight and volume of the heater, and improving the overall energy efficiency of the system by more than 10%. Moreover, this application adopts solid-state hydrogen storage technology to achieve low-pressure hydrogen storage, and the hydrogen storage pressure is less than 10 bar. At the same time, the hydrogen storage density is also relatively high, reaching more than 6wt%. The integrated structure and solid-state hydrogen storage technology greatly simplify the structure of the hydrogen energy system, and the weight of the entire system is reduced by 5%-10%. In addition, low-pressure hydrogen storage also significantly reduces the risk of hydrogen leakage and improves safety.

[0017] The hydrogen fuel cell in the embodiment of the present application adopts a proton exchange membrane fuel cell (PEMFC) with a rated power of 1-5KW, which can meet the power requirements of the motors on each joint of the humanoid robot. After adopting the hydrogen fuel cell, the energy can be replenished by adding hydrogen to the solid hydrogen storage device. Not only is the battery life guaranteed, which can reach 3-5 times that of traditional lithium batteries, but the energy replenishment time is greatly shortened from several hours of traditional lithium battery charging to a few minutes.

[0018] Furthermore, the radiator is connected in parallel to the outflow circulation pipe through a branch pipe, and control valves are provided on the outflow circulation pipe and the branch pipe. The opening of the control valve is controlled to adjust the flow of the heat transfer medium in the outflow circulation pipe and the branch pipe, thereby controlling the temperature of the heating device.

[0019] Specifically, the circulation pump adopts a variable frequency pump, and the flow rate of the circulation pump can be adjusted by a variable frequency controller. When the working states of the circulation pump and the radiator remain unchanged, the temperature of the heat-conducting medium in the heating device is controlled by the temperature of the heat-conducting medium in the cooling plate. When the temperature of the heat-conducting medium in the heating device is lower than the temperature required by the solid-state hydrogen storage device, the variable frequency controller first increases the flow rate of the circulation pump, and then monitors the temperature of the heat-conducting medium in the heating device in real time. If the temperature reaches the requirement of the solid-state hydrogen storage device, the current flow rate of the circulation pump is maintained. If it does not reach the requirement, the flow rate of the circulation pump continues to be increased. If the circulation pump reaches the maximum flow rate, but the temperature of the heat-conducting medium in the heating device still does not reach the required temperature, the heater is started, and additional heat is provided to the solid-state hydrogen storage device by electric heating, so that the solid-state hydrogen storage device finally reaches the required temperature.

[0020] Accordingly, when the temperature of the heat transfer medium in the heating device exceeds the temperature required by the solid-state hydrogen storage device, the frequency conversion controller first reduces the flow of the circulation pump, and then monitors the temperature of the heat transfer medium in the heating device in real time. If the temperature drops to the requirement of the solid-state hydrogen storage device, the current flow of the circulation pump is maintained, and if it is not reached, the flow of the circulation pump is further reduced. If the circulation pump reaches the minimum flow, but the temperature of the heat transfer medium in the heating device still exceeds the required temperature, the radiator is started and the opening of the control valve is adjusted to allow part or all of the heat transfer medium to flow through the branch pipe, thereby dissipating the heat of this part of the heat transfer medium and reducing the solid-state hydrogen storage device to the required temperature.

[0021] Furthermore, quick connectors are provided at both ends of the outflow circulation pipeline and the inflow circulation pipeline, and the outflow circulation pipeline and the inflow circulation pipeline are connected to the cooling plate and the heating device through the quick connectors.

[0022] Specifically, the outflow circulation pipe, the inflow circulation pipe and the branch pipe can adopt lightweight and flexible polytetrafluoroethylene pipes, and the cooling plate and the heating device are provided with quick sockets at the positions connected with the quick connectors. The quick connectors and the quick sockets can realize the quick connection and disassembly of the outflow circulation pipe and the inflow circulation pipe with the cooling plate and the heating device, which is convenient for the quick disassembly and assembly of the modular solid-state hydrogen storage device and the hydrogen fuel cell.

[0023] Furthermore, temperature sensors are provided in the cooling plate and the heating device, and the temperature sensors are used to collect the battery temperature and the hydrogen storage temperature. After obtaining the battery temperature and the hydrogen storage temperature, a fuzzy PID (proportional integral differential) algorithm is used to control the radiator and the heater.

[0024] Specifically, the temperature sensor is preferably a PT100 platinum resistor. By collecting and controlling the real-time temperature, precise temperature control can be achieved, and then the speed at which the solid-state hydrogen storage device releases hydrogen can be accurately controlled to meet the power generation requirements of the hydrogen fuel cell. At the same time, the excess heat generated by the hydrogen fuel cell can also be released in time to ensure the safety of the entire system.

[0025] In a possible embodiment, the solid-state hydrogen storage device includes a hydrogen storage layer, a heat conductive layer and an outer shell from the inside to the outside.

[0026] Exemplarily, the hydrogen storage layer is made of metal organic framework (MOF) material. When manufacturing a solid-state hydrogen storage device, the metal organic framework material is first pressed into a desired shape to form a hydrogen storage layer. Then, a heat conductive layer is wrapped around the outside of the hydrogen storage layer. The composite structure of the hydrogen storage layer and the heat conductive layer is placed as a whole in a prefabricated outer shell. The outer shell is sealed, and finally, a temperature sensor, a pressure release valve, and a hydrogen inlet and outlet are installed in the reserved installation port. The above-mentioned heat conductive layer can be made of a graphene composite material to transfer the heat generated by the heater to each position of the solid-state hydrogen storage device. The outer shell is made of a lightweight and high-strength material, such as a carbon fiber composite material. During manufacturing, solid-state hydrogen storage devices of different shapes and specifications can be formed according to the installation position on the humanoid robot and the hydrogen storage requirements, such as 100cm 3 , 200cm 3 or 500cm 3 .

[0027] Furthermore, the preparation method of the metal organic framework material includes: The metal salt and the organic ligand are mixed in N,N-dimethylformamide (DMF) solvent to obtain a mixed agent; The mixture was stirred and reacted at 100°C for 48 hours, and the crude material was obtained by filtration and washing; The crude material was activated at 150° C. for 12 hours under vacuum to obtain a metal organic framework material.

[0028] Specifically, the metal salt may be magnesium nitrate, and the organic ligand may be 2,5-dihydroxyterephthalic acid, and the metal organic framework material finally prepared is Mg-MOF-74.

[0029] The present application also provides a hydrogen-powered humanoid robot using the solid-state hydrogen energy system, such as Figure 2 As shown, the hydrogen-powered humanoid robot includes a head, a trunk 100 and limbs, and the solid-state hydrogen energy system is arranged on the trunk 100 .

[0030] For example, the solid-state hydrogen energy system in the present application is preferably installed on the trunk 100, and of course it can also be installed on the limbs as needed. However, when determining the installation position, it is necessary to use the finite element analysis method to determine the rationality of the installation position of each solid-state hydrogen energy system, so as to achieve the effect of keeping the center of gravity of the entire humanoid robot near the geometric center after the solid-state hydrogen energy system is installed. When multiple solid-state hydrogen energy systems are used, these multiple solid-state hydrogen energy systems need to be distributed in various parts of the trunk 100 and limbs of the humanoid robot to improve the balance and flexibility of the humanoid robot.

[0031] Furthermore, taking the installation of the solid-state hydrogen energy system on the torso 100 as an example, the torso of the humanoid robot is provided with a protective shell 200, and the protective shell 200 adopts an openable structure, for example, a flat opening or an overall disassembly method, and after the protective shell 200 is opened, the solid-state hydrogen energy system inside the torso 100 can be exposed, thereby facilitating the addition of hydrogen to the solid-state hydrogen storage device, or the inspection and maintenance of the solid-state hydrogen energy system.

[0032] In a possible embodiment, the head is provided with a data acquisition unit and the torso 100 is provided with a controller. The data acquisition unit is used to collect environmental data. After obtaining the environmental data, the controller uses a load prediction model to determine the future load power, and controls the power generation power of the hydrogen fuel cell in the solid-state hydrogen energy system according to the load power. At the same time, the radiator and heater in the solid-state hydrogen energy system are also controlled.

[0033] Exemplarily, the data acquisition unit can use a camera, a laser radar, an ultrasonic radar, etc. These data acquisition units collect images, three-dimensional point clouds and distance data respectively. The collected environmental data is transmitted to the controller through the CAN (controller area network) bus after Kalman filtering. The controller can use an ARM Cortex-M7 series microcontroller, and the load prediction model can be established based on an LSTM (long short-term memory) network. When establishing the load prediction model, it is first necessary to obtain historical environmental data and corresponding historical load power. These historical environmental data include historical obstacle distances, historical obstacle heights, and historical target heights. After obtaining the historical environmental data and historical load power, data cleaning, denoising and interpolation processing are performed on them, and then normalization processing is performed to obtain training data. The training data is input into the initial load prediction model for training. After testing and verification, a load prediction model that meets the use requirements can be obtained. When in use, the real-time environmental data is input into the load prediction model to obtain the corresponding load power. The load power is the power requirement of the motors on each joint in the humanoid robot. The power generation power of the solid-state hydrogen energy system needs to meet this power requirement to ensure that the humanoid robot can successfully complete various tasks.

[0034] Since there is a certain delay in the solid-state hydrogen storage device releasing hydrogen after heating, and there is also a certain delay in the hydrogen fuel cell generating electricity and heat under sufficient hydrogen supply, it is necessary to control the temperature of the solid-state hydrogen storage device in advance to ensure that the hydrogen fuel cell can output the required power generation in a timely and accurate manner when needed.

[0035] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0036] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A solid hydrogen energy system, characterized in that: The invention comprises a solid-state hydrogen storage device and a hydrogen fuel cell, wherein the solid-state hydrogen storage device and the hydrogen fuel cell are connected via a circulation device, and a heater is also arranged on the solid-state hydrogen storage device. The circulation device comprises a circulation pipeline, a circulation pump, a radiator, a cooling plate and a heating device, and the circulation pipeline comprises an outflow circulation pipeline and an inflow circulation pipeline. The cooling plate and the heating device are respectively arranged outside the hydrogen fuel cell and the solid-state hydrogen storage device, and the circulation pump and the radiator are sequentially connected to the outflow circulation pipeline, and the two ends of the outflow circulation pipeline are respectively connected to the cooling plate and the heating device, and the two ends of the inflow circulation pipeline are also respectively connected to the cooling plate and the heating device, and the cooling plate absorbs the heat generated during the power generation process of the hydrogen fuel cell, and transfers the heat to the heating device through the heat-conducting medium in the outflow circulation pipeline to heat the solid-state hydrogen storage device, and when the temperature required by the solid-state hydrogen storage device is higher than the temperature provided by the heating device, the heater works to assist heating, and when the temperature required by the solid-state hydrogen storage device is lower than the temperature provided by the heating device, the radiator works to cool the heat-conducting medium in the outflow circulation pipeline.

2. A solid-state hydrogen energy system according to claim 1, characterized in that: The solid-state hydrogen storage device comprises a hydrogen storage layer, a heat-conducting layer and an outer shell in sequence from the inside to the outside.

3. A solid-state hydrogen energy system according to claim 2, characterized in that: The hydrogen storage layer is made of a metal organic framework material, and the preparation method of the metal organic framework material comprises: Mixing the metal salt and the organic ligand in an N,N-dimethylformamide solvent to obtain a mixture; The mixture was stirred and reacted at 100° C. for 48 hours, and a crude material was obtained by filtering and washing; The crude material is activated at 150° C. for 12 hours under a vacuum environment to obtain the metal organic framework material.

4. A solid hydrogen energy system according to claim 1, characterized in that: The cooling plate and the heating device are both provided with temperature sensors, and the temperature sensors are used to collect the battery temperature and the hydrogen storage temperature. After the battery temperature and the hydrogen storage temperature are obtained, the fuzzy PID algorithm is used to control the radiator and the heater.

5. A solid-state hydrogen energy system according to claim 1, characterized in that: The radiator is connected in parallel to the outflow circulation pipeline through a branch pipeline. The outflow circulation pipeline and the branch pipeline are both provided with control valves. The opening of the control valve is controlled to adjust the flow of the heat transfer medium in the outflow circulation pipeline and the branch pipeline, thereby controlling the temperature of the heating device.

6. A solid-state hydrogen energy system according to claim 1, characterized in that: Both ends of the outflow circulation pipeline and the inflow circulation pipeline are provided with quick connectors, and the outflow circulation pipeline and the inflow circulation pipeline are connected to the cooling plate and the heating device through the quick connectors.

7. A solid-state hydrogen energy system according to claim 1, characterized in that: A microchannel structure is arranged inside the cooling plate, and a heat-conducting medium flows in the microchannel structure to absorb the heat generated by the hydrogen fuel cell.

8. A solid-state hydrogen energy system according to claim 1, characterized in that: The heating device is a spiral pipe.

9. A hydrogen-powered humanoid robot using the solid-state hydrogen energy system according to any one of claims 1 to 8, characterized in that: The hydrogen-powered humanoid robot comprises a head, a trunk (100) and four limbs, and the solid-state hydrogen energy system is arranged on the trunk (100).

10. A hydrogen powered humanoid robot according to claim 9, characterized in that: The head is provided with a data acquisition unit, and the trunk (100) is provided with a controller. The data acquisition unit is used to collect environmental data. After obtaining the environmental data, the controller uses a load prediction model to determine the future load power, controls the power generation power of the hydrogen fuel cell in the solid-state hydrogen energy system according to the load power, and also controls the radiator and heater in the solid-state hydrogen energy system.

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