Quadruped robot driven by hydrogen fuel hybrid power system

Abstract

The utility model relates to the technical field of robots, in particular to a quadruped robot driven by a hydrogen fuel hybrid power system, which comprises a trunk and bionic legs. A hydrogen fuel hybrid power system is integrated in the trunk, and the hydrogen fuel hybrid power system converts hydrogen into electric energy to provide the electric energy for the quadruped robot; the hydrogen fuel hybrid power system comprises a hydrogen storage device, the hydrogen storage device is connected with a hydrogen fuel electric pile through a pipeline, the hydrogen fuel electric pile is electrically connected with an electric energy caching device, and the hydrogen storage device, the hydrogen fuel electric pile and the electric energy caching device are all electrically connected with a hybrid power system controller. According to the quadruped robot, the hydrogen fuel hybrid power system is integrated in the space in the trunk, the quadruped robot has the advantages of being high in integration degree and high in motion flexibility reduction degree, the requirements of the quadruped robot for electric energy under different working conditions are met, the cruising ability of the quadruped robot is effectively improved, and the application space range and application scene of the quadruped robot are widened.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely is a kind of four-legged robot driven by hydrogen fuel hybrid power system. BACKGROUND

[0002] Four-legged robot is a kind of bionic robot simulating animal four limbs movement, it realizes movement, balance and adapts complex terrain by four independent or coordinated movement mechanical legs, and it has wide application potential in the field such as patrol, rescue, military etc. However, four-legged robot is usually powered by lithium battery installed inside, and the energy density is low, which causes its endurance mileage to be relatively short, and restricts the use scene of four-legged robot.

[0003] Some prior art, for example "hydrogen fuel four-legged robot" (CN202222198526.8) discloses four-legged robot with hydrogen fuel cell externally hung on four-legged robot, which can improve the endurance of robot, but the way of externally hanging hydrogen fuel cell limits the motion flexibility of four-legged robot, and also occupies the installation space of four-legged robot load device. SUMMARY

[0004] In order to solve the problems in the above background art, the utility model provides a kind of four-legged robot driven by hydrogen fuel hybrid power system, integrates hydrogen fuel hybrid power system by the space in torso, with the advantages of high integration, high four-legged motion flexibility reduction degree, while taking into account the demand for electrical energy of four-legged robot under different working conditions, effectively improve the endurance of four-legged robot, and broaden the motion space range and application scene of four-legged robot.

[0005] To achieve the above purpose, the utility model technical scheme is as follows:

[0006] The utility model provides a kind of four-legged robot driven by hydrogen fuel hybrid power system, including torso and bionic leg, hydrogen fuel hybrid power system is arranged in torso, hydrogen fuel hybrid power system converts hydrogen into electrical energy to provide electrical energy for four-legged robot;

[0007] Hydrogen fuel hybrid power system includes hydrogen storage device, hydrogen storage device is connected with hydrogen fuel cell stack by pipeline, hydrogen fuel cell stack is electrically connected with electrical energy buffer device, and hydrogen storage device, hydrogen fuel cell stack and electrical energy buffer device are electrically connected with hybrid power system controller.

[0008] As a further implementation mode, hydrogen storage device is equipped with hydrogen outlet, and hydrogen outlet is connected with hydrogen fuel cell stack by pipeline;

[0009] Hydrogen storage device includes at least one hydrogen storage bottle, and the bottle mouth of each hydrogen storage bottle is connected with bottle mouth pressure reducing valve, and the bottle mouth pressure reducing valves of all hydrogen storage bottles are connected in parallel by pipeline.

[0010] Or, the hydrogen storage device includes at least one hydrogen storage bottle, and all bottle openings of the hydrogen storage bottles are connected in parallel to the bottle opening pressure reducing valve through pipelines.

[0011] As a further implementation, the hydrogen fuel hybrid system further comprises a cooling fan arranged in the cathode direction of the hydrogen fuel stack, and the combination of the cooling fan and the hydrogen fuel stack is fixed inside the torso.

[0012] As a further implementation, the hydrogen outlet of the hydrogen storage device is provided with a pressure sensor.

[0013] As a further implementation, the bottle opening pressure reducing valve is connected in sequence with the inlet electromagnetic valve and the hydrogen fuel stack anode inlet through pipelines.

[0014] As a further implementation, the hydrogen storage device is provided with a hydrogen injection interface, which is a one-way interface and only allows hydrogen to be injected into the hydrogen storage device through the hydrogen injection interface.

[0015] As a further implementation, the hydrogen fuel stack is provided with a stack pressure sensor at the inlet.

[0016] As a further implementation, the anode outlet of the hydrogen fuel stack is connected to the input end of the exhaust electromagnetic valve through a pipeline, and the output end of the exhaust electromagnetic valve is connected to the hydrogen exhaust interface through a pipeline.

[0017] As a further implementation, the electric energy storage device includes but is not limited to lithium batteries or super capacitors, which are used to store excess electric energy output by the hydrogen fuel stack and provide energy supplement when the quadruped robot performs high-energy consumption actions.

[0018] As a further implementation, the hydrogen fuel stack has a hydrogen loop and an air loop, the hydrogen loop is connected to the anode of the hydrogen fuel stack, the hydrogen loop is provided with an exhaust electromagnetic valve at the end, and the air loop includes a cooling fan connected to the cathode of the hydrogen fuel stack.

[0019] Compared with the prior art, the above one or more technical solutions have the following beneficial effects:

[0020] 1. The hydrogen fuel hybrid system is integrated in the torso, the system integration degree is high, the space layout is reasonable, and since the hydrogen storage device and the hydrogen fuel stack are not arranged in an external hanging manner, the space of the load device of the quadruped robot is not occupied, the influence on the movement process of the quadruped robot is avoided, the system integration degree is high, and the movement flexibility of the quadruped robot can be highly restored.

[0021] 2、The hydrogen fuel hybrid power system adopts the mixed output mode of hydrogen fuel stack and electric energy storage device, the electric energy storage device stores the excess electric energy output by the hydrogen fuel stack, can supplement energy output in time when the quadruped robot performs high energy consumption action, not only ensures the demand of the quadruped robot for electric energy under different working conditions, but also effectively improves the endurance of the quadruped robot, and further widens the motion space range and application scene of the quadruped robot. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings constituting a part of the specification of the present application are used to provide further understanding of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application.

[0023] Figure 1 A quadruped robot structure schematic diagram driven by the hydrogen fuel hybrid power system provided by the present application;

[0024] Figure 2 A structure schematic diagram of the hydrogen fuel hybrid power system provided by the present application;

[0025] Figure 3 A principle schematic diagram of the hydrogen fuel hybrid power system provided by the present application;

[0026] Wherein, 1-torso; 2-hydrogen fuel stack; 3-first bottle port pressure reducing valve; 4-hydrogen bottle pressure sensor; 5-hydrogen storage bottle; 6-hydrogen filling port; 7-hydrogen discharge port; 8-bionic leg; 9-electric energy storage device; 10-radiation fan; 11-hybrid power system controller; 12-stack pressure sensor; 13-tail exhaust electromagnetic valve; 14-lock; 15-second bottle port pressure reducing valve; 16-inlet electromagnetic valve. DETAILED DESCRIPTION

[0027] In order to make the technical problems, technical solutions and advantages of the present application clearer, the following will be described in detail in combination with the drawings and specific embodiments.

[0028] It should be pointed out that the following detailed description is exemplary, and is intended to provide further description of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as generally understood by those skilled in the art to which the present application belongs.

[0029] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0030] Example 1:

[0031] like Figure 1 As shown, a quadruped robot powered by a hydrogen fuel hybrid power system includes a torso 1 and bionic legs 8. The torso 1 integrates a hydrogen fuel hybrid power system that converts hydrogen into electrical energy to power the quadruped robot.

[0032] like Figure 3 As shown, the hydrogen fuel hybrid power system mainly includes: a hydrogen storage device (hydrogen storage cylinder 5 in this embodiment), a hydrogen fuel cell stack 2, a cooling fan 10, an energy buffer device 9, and a hybrid power system controller 11.

[0033] As a further implementation, the energy buffer device 9 uses a lithium battery or supercapacitor to buffer excess energy output from the hydrogen fuel cell stack and provide timely energy replenishment when the quadruped robot performs high-energy-consuming actions.

[0034] As a further implementation, the hybrid power system controller 11 is used for state monitoring and output control of the entire hydrogen fuel hybrid power system, and coordinates the output power of the hydrogen fuel cell stack according to the electrical energy required by the quadruped robot.

[0035] As a further implementation, the status information monitored by the hybrid power system controller 11 includes: hydrogen tank pressure, fuel cell stack voltage, fuel cell stack current, fuel cell stack temperature, fuel cell stack inlet pressure, and remaining energy charge (SOC) information of the energy buffer device. The output control functions of the hybrid power system controller 11 include: hydrogen switch control, fuel cell stack cooling fan control, fuel cell stack exhaust control, fuel cell stack output current control, and hybrid system output voltage control.

[0036] As a further implementation method, such as Figure 2 As shown, the hydrogen fuel cell hybrid power system uses two high-pressure hydrogen cylinders connected in parallel to form a hydrogen storage device to achieve the hydrogen supply for the entire system. The outlets of the two hydrogen storage cylinders are respectively equipped with a first cylinder pressure reducing valve 3 and a second cylinder pressure reducing valve 15, which are used to reduce the high-pressure hydrogen in the hydrogen storage cylinders to a pressure suitable for the operation of the fuel cell stack. At the same time, the two cylinder pressure reducing valves are connected in parallel through pipelines.

[0037] In addition, all hydrogen storage cylinders can be connected in parallel to a cylinder pressure reducing valve via pipelines, in which case all hydrogen storage cylinders share a single cylinder pressure reducing valve.

[0038] As a further implementation, a hydrogen filling port 6 is reserved near the outlet of the hydrogen storage cylinder. This port is a one-way port, and hydrogen can only be injected into the hydrogen storage cylinder 5 through this port in one direction.

[0039] As a further implementation, a hydrogen cylinder pressure sensor 4 is installed at the outlet of the hydrogen storage cylinder to monitor the pressure of the hydrogen storage cylinder. Alternatively, a hydrogen storage device pressure sensor can be installed at the hydrogen outlet, allowing all hydrogen storage cylinders in the hydrogen storage device to share a single hydrogen outlet. The hydrogen storage device pressure sensor is used to monitor the overall pressure of the hydrogen storage device.

[0040] As a further embodiment, a stack pressure sensor 12 is provided at the inlet of the hydrogen fuel cell stack 2.

[0041] As a further embodiment, the hydrogen storage cylinder 5 is depressurized by the cylinder pressure reducing valve 3 and then connected to the anode inlet of the hydrogen fuel cell stack 2 through a pipeline. The anode outlet of the hydrogen fuel cell stack 2 is connected to the input end of the tail exhaust solenoid valve 14 through a pipeline, and the output end of the tail exhaust solenoid valve 14 is connected to the hydrogen discharge port 7 through a pipeline.

[0042] In this embodiment, in order to achieve air supply and temperature control of the hydrogen fuel cell stack 2, a cooling fan 10 is installed on the side of the hydrogen fuel cell stack 2.

[0043] In this embodiment, the power caching device 9 uses a lithium battery pack to cache the excess power output by the hydrogen fuel cell stack and to provide timely power replenishment when the quadruped robot performs high-energy-consuming actions.

[0044] like Figure 2 As shown, in the hydrogen fuel cell hybrid power system, two sets of hydrogen storage cylinders 5 are arranged side by side in the same direction. The hybrid power system controller 11, the energy buffer device 9, the hydrogen fuel cell stack 2, and the cooling fan 10 are arranged side by side to form a combination unit, which is arranged side by side with the hydrogen storage cylinders 5. The hydrogen storage cylinders 5 are provided with pipes facing the combination unit, and the pipes are equipped with devices such as hydrogen filling port 6, first cylinder pressure reducing valve 3, second cylinder pressure reducing valve 15, and hydrogen cylinder pressure sensor 4.

[0045] This arrangement makes efficient use of the space inside the torso. Traditionally, the torso is used to house lithium batteries and control boards. To improve the quadruped robot's endurance, the number of lithium batteries inside the torso would be increased. If a hydrogen fuel cell is used to further enhance endurance, the hydrogen storage device would need to be externally mounted on the quadruped robot's back. However, various sensors, robotic arms, and other load-bearing devices are typically mounted on the quadruped robot's back. Therefore, using an external hydrogen storage device would occupy the quadruped robot's load-bearing space and would also affect the quadruped robot's motion control.

[0046] The embodiment integrates the hydrogen fuel hybrid power system in the space of the trunk, the hydrogen storage device is not arranged in the form of external hanging, the system has high integration degree, the space layout is reasonable, not only ensures the demand of the quadruped robot on the electric energy under different working conditions, but also effectively improves the endurance of the quadruped robot, and widens the application range and application scene of the quadruped robot. Meanwhile, the hydrogen fuel cell and the traditional energy storage device are mixed to output, not only ensures the demand of the quadruped robot on the electric energy under different working conditions, but also effectively improves the endurance of the quadruped robot, and widens the application range and application scene of the quadruped robot. The hybrid power system controller, the electric energy buffer device, the hydrogen fuel cell and the cooling fan are arranged in parallel to form a combination, and the combination and the hydrogen storage bottle are arranged in parallel, so that the weight in the trunk of the quadruped robot is more balanced.

[0047] The above only describes preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can be variously changed and modified. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A quadruped robot driven by a hydrogen fuel hybrid system, characterized by, The torso and the bionic leg are provided with a hydrogen fuel hybrid power system inside the torso, which converts hydrogen into electric energy to provide electric energy for the quadruped robot. The hydrogen fuel hybrid power system comprises a hydrogen storage device connected to a hydrogen fuel cell stack through a pipeline, the hydrogen fuel cell stack is electrically connected to an electric energy storage device, and the hydrogen storage device, the hydrogen fuel cell stack and the electric energy storage device are all electrically connected to a hybrid power system controller.

2. The quadruped robot driven by the hydrogen fuel hybrid system according to claim 1, characterized in that, The hydrogen storage device is provided with a hydrogen outlet connected to the hydrogen fuel cell stack through a pipeline. The hydrogen storage device comprises at least one hydrogen storage bottle, and the bottle opening of each hydrogen storage bottle is connected to a bottle opening pressure reducing valve, and the bottle opening pressure reducing valves of all hydrogen storage bottles are connected in parallel through a pipeline. Alternatively, the hydrogen storage device comprises at least one hydrogen storage bottle, and the bottle openings of all hydrogen storage bottles are connected in parallel to a bottle opening pressure reducing valve through a pipeline.

3. The quadruped robot driven by the hydrogen fuel hybrid system according to claim 1, characterized in that, The hydrogen fuel hybrid power system further comprises a cooling fan arranged in the direction of the cathode of the hydrogen fuel cell stack, and the combination of the cooling fan and the hydrogen fuel cell stack is fixed inside the torso.

4. The quadruped robot driven by the hydrogen fuel hybrid system according to claim 1, characterized in that, The hydrogen outlet of the hydrogen storage device is provided with a pressure sensor.

5. The quadruped robot driven by the hydrogen fuel hybrid system according to claim 2, characterized in that, The bottle opening pressure reducing valve is connected to an air inlet electromagnetic valve and an anode air inlet of the hydrogen fuel cell stack through a pipeline in sequence.

6. The quadruped robot driven by the hydrogen fuel hybrid system according to claim 2, characterized in that, The hydrogen storage device is provided with a hydrogen injection interface, which is a one-way interface and only allows hydrogen to be injected into the hydrogen storage device through the hydrogen injection interface.

7. The quadruped robot driven by the hydrogen fuel hybrid system according to claim 1, characterized in that, The hydrogen fuel cell stack is provided with a stack pressure sensor at the inlet.

8. The quadruped robot driven by the hydrogen fuel hybrid system according to claim 1, characterized in that, The anode outlet of the hydrogen fuel cell stack is connected to the input end of a tail exhaust electromagnetic valve through a pipeline, and the output end of the tail exhaust electromagnetic valve is connected to a hydrogen tail exhaust interface through a pipeline.

9. The quadruped robot driven by the hydrogen fuel hybrid system according to claim 1, characterized in that, The electric energy storage device comprises but is not limited to a lithium battery or a super capacitor, which is used to store excess electric energy output by the hydrogen fuel cell stack and output energy when the quadruped robot performs high-energy consumption actions.

10. The quadruped robot driven by the hydrogen fuel hybrid system according to claim 1, characterized in that, The hydrogen fuel cell stack has a hydrogen loop and an air loop, the hydrogen loop is connected to the anode of the hydrogen fuel cell stack, the tail exhaust electromagnetic valve is arranged at the end of the hydrogen loop, and the air loop comprises a cooling fan connected to the cathode of the hydrogen fuel cell stack.

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