Hydrolysis hydrogen production type hydrogen power quadruped robot and working method thereof

Abstract

The invention discloses a hydrolysis hydrogen production type hydrogen power quadruped robot and a working method, the hydrolysis hydrogen production type hydrogen power quadruped robot comprises a trunk and a quadruped walking part, and a hydrolysis hydrogen production module and a hybrid power generation module which are connected through a pipeline are arranged in the trunk; the hydrolysis hydrogen production module comprises a water tank, a charging machine and a reaction container, the water tank conveys water into the reaction container, and the charging machine conveys metal powder into the reaction container; the hybrid power generation module comprises a hydrogen fuel electric pile and an electric energy caching device, the hydrogen fuel electric pile generates power by using hydrogen, and the electric energy caching device stores electric energy and provides the electric energy for the quadruped robot; the space in the trunk is used for integrating the power generation module and the hydrolysis hydrogen production module, and the advantages that the integration degree is high, and the motion flexibility reduction degree of the quadruped robot is high are achieved; and hydrogen is produced in real time through the hydrolysis hydrogen production module, so that the limitation of hydrogenation equipment on the use range of the hydrogen fuel quadruped robot is eliminated, and the endurance time of the hydrogen fuel quadruped robot is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydrogen fuel robots, in particular to a water hydrolysis hydrogen production type hydrogen power quadruped robot and a working method thereof. BACKGROUND

[0002] The hydrogen fuel quadruped robot is a quadruped bionic robot using a hydrogen fuel cell as a power system, which has zero carbon emission, long endurance and complex terrain adaptability. The existing hydrogen fuel quadruped robot uses a hydrogen fuel cell as a power source and high-pressure hydrogen storage as a hydrogen source. By replacing the hydrogen cylinder, the working time of the robot is increased, compared with the lithium battery robot, the long charging time of the lithium battery robot is shortened, and the use efficiency is improved.

[0003] The existing hydrogen fuel quadruped robot uses a high-pressure hydrogen storage cylinder to provide hydrogen, which has the following problems: 1. The high-pressure hydrogen storage cylinder is usually hung on the back of the quadruped robot, which has an explosion hazard in the robot movement, bumping, collision or high temperature environment; 2. The high-pressure hydrogen storage cylinder occupies a large space on the back of the robot, resulting in the upward stacking of various sensors, mechanical arms and other load devices, which requires the sacrifice of the load and flexibility of the quadruped robot to increase the endurance time; 3. When the high-pressure hydrogen storage cylinder is filled with hydrogen, auxiliary equipment such as a booster pump and a hydrogen filling station is needed, but the existing hydrogen filling station is small in scale and the booster equipment is expensive, which limits the use range of the hydrogen fuel quadruped robot. In addition, when filling hydrogen, the task needs to be interrupted and relies on manual operation, which cannot be self-powered in unmanned areas, disaster sites and other scenes. SUMMARY

[0004] In view of the problems existing in the prior art, the present application provides a water hydrolysis hydrogen production type hydrogen power quadruped robot and a working method thereof, which integrates a hydrogen fuel hybrid power generation module and a water hydrolysis hydrogen production module in the space inside the trunk, has the advantages of high integration, long endurance mileage and no restriction by auxiliary equipment, can meet the demand of the quadruped robot for electric energy under different working conditions, and effectively widens the application space range and application scene of the quadruped robot.

[0005] The technical scheme of the present application is as follows: In the first aspect of the present application, a water hydrolysis hydrogen production type hydrogen power quadruped robot is provided, which comprises a trunk and a quadruped walking part, and a water hydrolysis hydrogen production module and a hybrid power generation module are arranged inside the trunk and connected by a pipeline; the water hydrolysis hydrogen production module comprises a water tank, a feeder and a reaction container, the water tank and the feeder are connected with the reaction container, the water tank delivers water into the reaction container, the feeder delivers metal powder into the reaction container, and the water and the metal powder undergo a hydrolysis reaction to produce hydrogen; the hybrid power generation module comprises a hydrogen fuel stack and an electric energy storage device connected by an electric connection, the hydrogen fuel stack is used for generating electricity by using hydrogen, and the electric energy storage device stores electric energy and provides the electric energy to the quadruped robot. In some embodiments of the present application, the lower part of the water tank is respectively provided with an air inlet and a water inlet, the upper part of the water tank is provided with a hydrogen outlet, and the inside of the water tank is provided with a liquid level sensor; the air inlet is connected with the hydrogen outlet of the reaction container, and the hydrogen outlet is connected with the anode inlet of the hydrogen fuel stack through a pressure reducing valve.

[0006] In some embodiments of the present application, the upper part of the reaction container is provided with a feeding port and a hydrogen outlet, and the bottom of the reaction container is provided with a slag discharge port; the feeding port is connected with a feeding machine through a feeding electromagnetic valve, and the hydrogen outlet is connected with the air inlet of the water tank.

[0007] In some embodiments of the present application, the feeding machine comprises a first cavity and a second cavity separated by a baffle, the first cavity is arranged with metal powder wrapped by water-soluble capsules, and the bottom of the second cavity is provided with a discharge port connected with the feeding electromagnetic valve.

[0008] In some embodiments of the present application, the bottom of the first cavity is provided with a spring, the top of the spring is mounted with a bottom plate, the bottom plate is pressed against the metal powder wrapped by water-soluble capsules under the action of the spring, and a push rod is arranged in the first cavity, and the telescopic end of the push rod is kept horizontal with the uppermost pressed metal powder capsule.

[0009] In some embodiments of the present application, the water injection connector is connected with the water inlet end of a water pump through a tee joint, the water outlet end of the water pump is connected with the water inlet of the water tank, and the tee joint is also connected with the water inlet of the reaction container.

[0010] In some embodiments of the present application, a one-way valve is arranged on the pipeline connecting the tee joint and the reaction container.

[0011] In some embodiments of the present application, the anode inlet of the hydrogen fuel stack is provided with a stack pressure sensor and an air inlet electromagnetic valve, the anode outlet is provided with a tail exhaust electromagnetic valve, and one side of the cathode outlet is provided with a cooling fan.

[0012] In some embodiments of the present application, a system controller is further included, which is connected with the hydrolysis hydrogen production module, the hydrogen fuel stack and the electric energy storage device respectively.

[0013] In the second aspect of the present application, a working method of a hydrolysis hydrogen production type hydrogen-powered four-legged robot is provided, comprising: After starting, water is injected into the reaction container and metal powder is added, and the water injection interval is adjusted by PID algorithm taking the reaction container pressure as a feedback signal. After the pressure of the reaction container is stable, the hydrogen supply electromagnetic valve is opened to supply hydrogen to the hydrogen fuel stack, the hydrogen fuel stack supplies power to the walking part of the quadruped robot, and according to the working condition, the electric energy storage device is charged, the electric energy storage device supplements power according to the load condition, and the quadruped robot starts to work; If the pressure of the pressure container continues to drop after multiple water injection, it is determined that the hydrogen production is completed, and the deslagging electromagnetic valve is opened to discharge the slag. After the slag is discharged, the powder feeder is used to add metal powder, and the hydrogen production process is restarted. The one or more technical solutions of the present application have the following beneficial effects: (1) The hydrolysis hydrogen production type hydrogen power quadruped robot provided by the present application completely embeds the hydrolysis hydrogen production module and the hybrid power generation module in the trunk of the quadruped robot, solving the space contradiction of the traditional external hydrogen storage bottle. Compared with the traditional hydrogen fuel cell robot, the present application directly integrates the hydrolysis hydrogen production module and the hydrogen fuel hybrid power system into the quadruped robot body, has higher system integration, and also retains the motion flexibility of the quadruped robot.

[0014] (2) The hydrolysis hydrogen production module provided by the present application uses the carried metal powder and the collected water resources to produce hydrogen in real time, achieving the effect of "just-in-time use"; it breaks away from the restriction of hydrogen refueling equipment on the use range of the hydrogen fuel quadruped robot; it breaks through the high cost and regional limitation of hydrogen storage and transportation. In addition, the hybrid power generation module cooperates with the hydrogen fuel stack and the electric energy storage device to solve the defect of slow dynamic response of the fuel cell, the hydrogen fuel stack provides steady-state power, and the electric energy storage device responds to high-energy consumption actions instantaneously. In addition, after breaking away from the dependence on hydrogen refueling stations, the robot can work continuously in areas without infrastructure such as the wild and disaster areas, improve the endurance, and further broaden the application range and application scenarios of the quadruped robot.

[0015] (3) The present application wraps the metal powder with water-soluble capsules, the capsule shell can isolate water vapor to avoid the metal powder from being hardened; each capsule contains a fixed dose of powder, which avoids the violent reaction caused by excessive manual feeding, and realizes precise control of the hydrolysis reaction.

[0016] (4) The working method provided by the present application dynamically adjusts the water injection frequency with the reaction container pressure as the feedback signal to make the hydrogen production rate match the robot energy consumption in real time; the continuous pressure drop of the reaction container is used as the end criterion for hydrogen production to avoid misjudgment caused by residual powder or insufficient water; through the closed loop process of deslagging-feeding-restarting, the present application realizes infinite endurance circulation, automatic cyclic hydrogen production, and improves the endurance. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a schematic diagram of the hydrolysis hydrogen production type hydrogen power quadruped robot of the present application. Figure 2The top view of the inside of the torso of the hydrogen power four-legged robot of the application is shown in the figure. Figure 3 The structural schematic diagram of the feeding machine of the application is shown in the figure. Figure 4 The principle diagram of the hydrogen power four-legged robot of the application is shown in the figure. Figure 5 The working flow chart of the hydrogen power four-legged robot of the application is shown in the figure.

[0018] In the figure: 1, electric energy storage device; 2, hydrogen fuel cell; 3, system controller; 4, water injection joint; 5, feeding port; 6, reaction container; 7, slag discharge port; 8, hydrogen discharge port; 9, torso; 10, walking part; 11, air inlet electromagnetic valve; 12, tail discharge electromagnetic valve; 13, reaction container pressure sensor; 14, first three-way joint; 15, feeding machine; 16, temperature sensor; 17, safety valve; 18, water tank; 19, second three-way joint; 20, pressure reducing valve; 21, water pump; 22, check valve; 23, cell pressure sensor.

[0019] 1501, second cavity; 1502, guide column; 1503, baffle; 1504, push rod; 1505, guide groove; 1506, base; 1507, spring; 1508, feeding electromagnetic valve; 1509, material-containing capsule; 1510, first cavity. DETAILED DESCRIPTION

[0020] The application will be further described below in combination with the accompanying drawings and examples.

[0021] Example 1 In a typical embodiment of the application, a hydrogen power four-legged robot of the hydrolysis hydrogen production type is provided, which comprises a torso 9 and a four-legged walking part 10, as shown in the figure. Figure 1 and Figure 2 The inside of the torso 9 is provided with a hydrolysis hydrogen production module and a hybrid power generation module connected through a pipeline; the hydrolysis hydrogen production module comprises a water tank 18, a feeding machine 15 and a reaction container 6, the water tank 18 and the feeding machine 15 are both connected with the reaction container 6, the water tank 18 delivers water into the reaction container 6, the feeding machine 15 delivers metal powder into the reaction container 6, and the water and the metal powder have a hydrolysis reaction to produce hydrogen; the hybrid power generation module comprises a hydrogen fuel cell 2 and an electric energy storage device 1 connected through electricity, the hydrogen fuel cell 2 is used to generate electricity by using hydrogen, and the electric energy storage device 1 stores electric energy and provides the electric energy to the four-legged robot.

[0022] It can be understood that the above-mentioned hydrogen power quadruped robot of hydrolysis hydrogen production utilizes the hydrolysis reaction of metal powder and water in the reaction container 6 to produce hydrogen, and the hydrogen is provided to the hydrogen fuel cell 2 to generate electricity, and the generated electricity is directly supplied to the quadruped robot walking part 10 and stored through the electric energy storage device 1 and supplemented to the quadruped robot. By completely embedding the hydrolysis hydrogen production module and the hybrid power generation module in the quadruped robot torso 9, the space contradiction of the traditional externally hung hydrogen storage bottle is solved. The metal powder hydrolysis hydrogen production realizes on-demand use. The hybrid power generation module cooperates with the hydrogen fuel cell 2 and the electric energy storage device 1 to solve the defect of slow dynamic response of the fuel cell, and the hydrogen fuel cell 2 provides steady-state power, and the electric energy storage device 1 responds to high-energy consumption actions instantaneously. In addition, after getting rid of the dependence on hydrogen refueling stations, the robot can work continuously in areas without infrastructure such as the wild and disaster areas, and the endurance is improved.

[0023] In the embodiment, the lower part of the water tank 18 is respectively provided with an air inlet and a water inlet, the upper part of the water tank 18 is provided with a hydrogen outlet, and the inside of the water tank 18 is provided with a liquid level sensor; the air inlet is connected with the hydrogen outlet of the reaction container 6, the water inlet is connected with the outlet of the second three-way joint 19, and the hydrogen outlet of the water tank 18 is connected with the anode inlet of the hydrogen fuel cell 2 through a pressure reducing valve 20.

[0024] It can be understood that the metal powder in the reaction container 6 reacts with water to produce hydrogen, which is discharged from the hydrogen outlet of the reaction container 6 and enters the air inlet at the lower part of the water tank 18, and is filtered and cooled by the water in the water tank to improve the purity of the hydrogen. The filtered and cooled hydrogen is discharged from the hydrogen outlet of the water tank 18, adjusted in pressure by the pressure reducing valve 20, and then enters the anode inlet of the hydrogen fuel cell 2 through the air inlet electromagnetic valve 11. The hydrogen fuel cell 2 can convert the chemical energy of hydrogen and oxygen into electric energy through an electrochemical reaction, and the unused hydrogen of the hydrogen fuel cell 2 is discharged through the hydrogen discharge port 8.

[0025] In the embodiment, the inside bottom and the inside upper part of the water tank 18 are respectively provided with a liquid level sensor for detecting the water level in the water tank 18, so that water can be supplied to the water tank 18 in time according to the water level in the water tank 18.

[0026] Further, the top of the torso 9 is provided with a water injection joint 4, the water injection joint 4 is connected with the water inlet end of a water pump 21 through a second three-way joint 19, the water outlet end of the water pump 21 is connected with the water inlet of the water tank 18, the second three-way joint 19 is connected with the water pump 21, the water injection joint 4 and the reaction container 6 respectively, and the water injection joint is a self-closing joint. Therefore, the water tank 18 and the reaction container 6 are respectively injected with water by the forward and reverse rotation of the water pump 21.

[0027] Further, a one-way valve 22 is arranged on the pipeline connected with the water pump 21 and the reaction container 6 to prevent backflow due to pressure difference during the reaction.

[0028] It can be understood that when the water pump 21 rotates forward, water is injected into the tank 18 through the water injection joint 4, and due to the arrangement of the one-way valve 22, water in the pressure container 6 will not be injected into the tank 18; when it is necessary to inject water into the reaction container, the water injection joint 4 is disconnected, at this time, the water injection joint 4 is in a closed state, and the water pump 21 is reversed to inject water in the tank 18 into the reaction container 6.

[0029] In the embodiment, the upper part of the reaction container 6 is provided with a charging port and a hydrogen outlet, and the bottom of the reaction container 6 is provided with a slag discharge port 7, the charging port 8 is connected with the charging machine 15 through the feeding electromagnetic valve 1508, and the hydrogen outlet is connected with the water inlet of the water tank 18. A filter screen is also arranged at the hydrogen outlet of the reaction container 6 to filter the hydrogen and remove impurities.

[0030] It can be understood that the charging machine 15 provides metal powder into the reaction container 6 through the feeding electromagnetic valve 1508, the metal powder undergoes hydrolysis reaction in the reaction container 6 to generate hydrogen and slag, the hydrogen is discharged through the hydrogen outlet and provided to the hydrogen fuel cell after pressure regulation by the pressure reducing valve 20, and the slag is discharged through the slag discharge port 7. The metal powder is a reactive metal, such as sodium borohydride or aluminum powder. Since the reaction container 6 is a pressure container, a safety valve 17, a temperature sensor 16 and a pressure sensor 13 are arranged on the reaction container 6, the safety valve 17 plays a pressure relief protection role, and the temperature sensor 16 and the pressure sensor 13 monitor the temperature and pressure in the reaction container 6.

[0031] As shown in Figure 3 The charging machine 15 includes a first cavity 1510 and a second cavity 1501 separated by a baffle, the first cavity 1510 is arranged with a plurality of material-containing capsules 1509, the bottom of the second cavity is provided with a discharge port, and the discharge port is connected with the feeding electromagnetic valve 1508. Further, the bottom of the first cavity 1510 is provided with a spring 1507, the top of the spring 1507 is mounted with a bottom plate 1506, and the bottom plate 1506 presses the metal powder wrapped by the water-soluble capsules under the action of the spring 1507.

[0032] It can be understood that the push rod is controlled by the control system, when charging, the push rod 1504 pushes the uppermost layer of the capsules 1509 containing the hydrolysis powder to open the baffle 1503 between the first cavity and the second cavity and enter the second cavity 1501, and then the feeding electromagnetic valve 1508 is opened, and the capsules 1509 fall into the reaction container 6.

[0033] In addition, by wrapping the metal powder with water-soluble capsules, the capsule shell can isolate water vapor to prevent the metal powder from being hardened; each capsule contains a fixed dose of powder, which avoids the violent reaction caused by excessive manual feeding and realizes precise control of the hydrolysis reaction.

[0034] In this embodiment, the hydrogen fuel cell stack 2 is provided with a stack pressure sensor 23 and an intake solenoid valve 11 at the anode inlet, a tail exhaust solenoid valve 12 at the anode outlet, and a cooling fan on one side of the cathode outlet. The stack pressure sensor 23 monitors the hydrogen inlet pressure to adjust the hydrogen flow rate, the pressure reducing valve 20 adjusts the hydrogen intake volume, and excess hydrogen at the anode is discharged through the tail exhaust solenoid valve 12. The cooling fan provides forced air cooling to the high-temperature area of ​​the stack (cathode outlet), ensuring the normal operation of the hydrogen fuel cell stack 2.

[0035] In this embodiment, a system controller 3 is further included, and the system controller 3 is connected to the hydrolysis hydrogen production module, the hydrogen fuel cell stack 2 and the electric energy cache device 1 respectively.

[0036] In this embodiment, the electric energy cache device 1 includes but is not limited to a lithium battery or a supercapacitor, which is used to cache excess electric energy output by the hydrogen fuel cell stack 2 and provide energy supplement when the quadruped robot performs high-energy consumption actions.

[0037] like Figure 4 As shown, the working principle of the hydrogen-generating quadruped robot provided by this embodiment is as follows: The metal powder wrapped in the water-soluble capsule is stored in the feeder 15. The push rod pushes the metal powder capsule to the top of the feed solenoid valve, the feed solenoid valve opens, and the capsule falls into the reaction container 6; at the same time, water is injected into the reaction container 6 through the water pump 21. The capsule shell dissolves when it comes into contact with water, and the metal powder reacts with water to generate hydrogen, and the pressure in the reaction container 6 rises.

[0038] The hydrogen in the reaction vessel 6 is removed from impurities by the top filter and enters the water tank 18 for further filtration and cooling. After the pressure is stabilized by the pressure reducing valve 20, the air intake solenoid valve 11 is opened, and the hydrogen enters the anode of the hydrogen fuel cell stack 2. The hydrogen fuel cell stack 2 converts the chemical energy of the hydrogen into direct current. The generated electric energy is provided to the walking part 10 of the quadruped robot through DCDC conversion, and the excess electric energy is stored through the electric energy cache device 1 and provided to the quadruped robot for supplementation depending on the load.

[0039] During the operation of the hydrogen-powered quadruped robot that produces hydrogen by hydrolysis, the system controller 3 uses the reaction vessel pressure sensor 13 as a feedback signal and adjusts the water injection interval through the PID algorithm. When the pressure continues to drop after multiple consecutive water injections, it is determined that the metal powder is exhausted and the hydrogen production is completed. The slag discharge solenoid valve is opened to discharge the slag; after the slag is discharged, the feeder 15 adds metal powder and the hydrogen production process is restarted in a cycle.

[0040] Example 2 In a typical implementation of this embodiment, a method for operating a hydrogen-powered quadruped robot that produces hydrogen by hydrolysis is provided, comprising: After starting, water injection and metal powder addition are carried out in the reaction container, and the water injection interval is adjusted by PID algorithm taking the reaction container pressure as the feedback signal; the specific process is as follows: the control system adopts a pressure-triggered emptying mechanism, and after starting, the water pump is intermittently and quantitatively injected to make the powder contact with water to generate hydrogen, and the initial pressure of the reaction container is established; when the pressure value exceeds 100 kPa, the hydrogen fuel stack inlet electromagnetic valve is opened, the hydrogen fuel stack anode inlet and cooling fan are opened, and the hydrogen fuel stack starts to start and run. The pressure stable closed loop system constructed by the PID control algorithm realizes the accurate control of the reaction water by dynamically adjusting the start-stop frequency of the water injection pump (the single injection amount is constant), realizes the stable control of the reaction container pressure (200 kPa-300 kPa), and when the system detects that the water injection is sufficient but the pressure drops by 60 kPa threshold, it is determined that the powder is basically completely consumed.

[0041] After the pressure of the reaction container is stabilized, the hydrogen inlet electromagnetic valve is opened to supply hydrogen to the hydrogen fuel stack, the hydrogen fuel stack supplies power to the walking part of the quadruped robot, and according to the working condition, the electric energy storage device is charged, the electric energy storage device supplements power supply according to the load condition, and the quadruped robot starts to work. After multiple water injections, if the pressure of the pressure container continues to drop, it is determined that the hydrogen production is completed, and the deslagging electromagnetic valve is opened to discharge slag. After the slag is discharged, the powder feeding machine adds metal powder, and the hydrogen production process is restarted.

[0042] The specific steps are as shown in Figure 5 S10: press the "start" button, the controller starts the water injection pump to inject water into the reaction container, and the reaction container pressure is taken as the feedback signal to adjust the water injection interval by executing the PID control algorithm in the controller.

[0043] S11: after the pressure of the reaction container is stabilized, the hydrogen inlet electromagnetic valve is opened, the hydrogen gas enters the fuel cell stack through the pressure reducing valve, the fuel cell starts to output electric energy, and the lithium battery is used as a buffer. The sensing part and the walking part of the quadruped robot start to work.

[0044] S12: after the water injection pump is continuously injected for multiple times, the pressure of the reaction container is in a downward trend, it is determined that the hydrolysis hydrogen production is completed, the water injection pump is turned off, and the deslagging electromagnetic valve is opened to discharge the reaction products and residual pressure.

[0045] S13: after the reaction products are emptied, the deslagging electromagnetic valve is closed, the powder feeding machine motor works, and the hydrolysis hydrogen production material is sent to the powder feeding electromagnetic valve connection port. The powder feeding electromagnetic valve is opened, the hydrolysis hydrogen production material falls into the reaction container, the powder feeding electromagnetic valve is closed, and the steps S10-S12 are repeated.

[0046] ​The working method provided by the application dynamically adjusts the water injection frequency with the reaction container pressure as a feedback signal, so that the hydrogen production rate is matched with the energy consumption of the robot in real time; the continuous pressure drop of the reaction container is taken as the end criterion of hydrogen production, so as to avoid misjudgment caused by residual powder or insufficient water; the infinite endurance cycle is realized through the closed loop process of slagging, charging and restarting, automatic cyclic hydrogen production is realized, and the endurance is improved.

[0047] Although the specific embodiments of the application are described above with reference to the drawings, the description is not a limitation on the scope of protection of the application, and those skilled in the art should understand that various modifications or changes made by those skilled in the art on the basis of the technical solutions of the application without creative labor are still within the protection scope of the application.

Claims

1. A hydrogen-powered quadruped robot that produces hydrogen by hydrolysis, comprising a trunk and a quadruped walking part, characterized in that: A hydrolysis hydrogen production module and a hybrid power generation module connected by pipes are arranged inside the torso; the hydrolysis hydrogen production module includes a water tank, a feeder and a reaction container, the water tank and the feeder are both connected to the reaction container, the water tank transports water into the reaction container, and the feeder transports metal powder into the reaction container, and the water and metal powder undergo a hydrolysis reaction to produce hydrogen; the hybrid power generation module includes a hydrogen fuel cell stack and an electric energy cache device that are electrically connected, the hydrogen fuel cell stack is used to generate electricity using hydrogen, and the electric energy cache device stores electric energy and provides it to the quadruped robot.

2. The hydrogen-powered quadruped robot of water-hydrogen production type according to claim 1, characterized in that: The lower part of the water tank is respectively provided with an air inlet and a water inlet, the upper part of the water tank is provided with a hydrogen outlet, and the interior of the water tank is provided with a liquid level sensor; the air inlet is connected to the hydrogen outlet of the reaction vessel, and the hydrogen outlet is connected to the anode inlet of the hydrogen fuel cell stack through a pressure reducing valve and a cell stack solenoid valve.

3. The hydrogen-powered quadruped robot of water-hydrogen production type according to claim 1, characterized in that: A feeding port and a hydrogen outlet are provided on the upper part of the reaction container, and a slag discharge port is provided on the bottom of the reaction container. The feeding port is connected to the feeder through a feeding solenoid valve, and the hydrogen outlet is connected to the air inlet of the water tank.

4. The hydrogen-powered quadruped robot of water-hydrogen production type according to claim 3, characterized in that: The feeder includes a first cavity and a second cavity separated by a baffle. Metal powder wrapped in water-soluble capsules is arranged in the first cavity. A discharge port is provided at the bottom of the second cavity, and the discharge port is connected to a feed solenoid valve.

5. The hydrogen-powered quadruped robot of water-hydrogen production type according to claim 4, characterized in that: A spring is provided at the bottom of the first cavity, and a base plate is installed on the top of the spring. The base plate presses the metal powder wrapped in the water-soluble capsule under the action of the spring. A push rod is provided in the first cavity, and the telescopic end of the push rod is kept level with the topmost compressed metal powder capsule.

6. The hydrogen-powered quadruped robot of water-hydrogen production type according to claim 1, characterized in that: A water injection joint is provided on the top of the trunk, which is connected to the water inlet of the water pump through a three-way joint. The water outlet of the water pump is connected to the water inlet of the water tank, and the three-way joint is also connected to the water inlet of the reaction container.

7. The hydrogen-powered quadruped robot of water-hydrogen production type according to claim 6, characterized in that: A one-way valve is provided on the pipeline connecting the three-way joint and the reaction container.

8. The hydrogen-powered quadruped robot produced by water splitting as claimed in claim 1, characterized in that: The anode inlet of the hydrogen fuel cell stack is provided with a stack pressure sensor and an air intake solenoid valve, the anode outlet is provided with a tail exhaust solenoid valve, and a cooling fan is provided on one side of the cathode outlet.

9. The hydrogen-powered quadruped robot of water-hydrogen production type according to claim 1, characterized in that: It also includes a system controller, which is connected to the hydrolysis hydrogen production module, the hydrogen fuel cell stack and the electric energy cache device respectively.

10. A method for operating a hydrogen-powered quadruped robot produced by hydrolysis according to any one of claims 1 to 9, characterized in that: include: After startup, water and metal powder are added to the reaction vessel, and the water injection interval is adjusted through the PID algorithm using the reaction vessel pressure as feedback signal; After the pressure in the reaction vessel stabilizes, the air inlet solenoid valve is opened to supply hydrogen to the hydrogen fuel cell stack. The hydrogen fuel cell stack supplies power to the walking part of the quadruped robot and charges the power buffer device according to the working conditions. The power buffer device replenishes power according to the load conditions, and the quadruped robot starts working. If the pressure in the pressure vessel continues to drop after multiple water injections, it is determined that hydrogen production is complete and the slag discharge solenoid valve is opened to discharge slag; After slag discharge, the feeder adds metal powder and the hydrogen production process is restarted in a cycle.

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