Underwater Robot Float Translation for Stable Posture Control

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Solution Overview

Problem

Existing underwater robots face challenges in maintaining appropriate posture control due to fluctuations in the center of buoyancy and gravity, especially in harsh environments with tidal currents or obstacles, and mechanisms with multiple power sources complicate this control.

Innovation Solution

A robot design with a first and second portion coupled together, featuring a moving member and a drive unit with a fixed power source, utilizing a two-dimensional translation motion mechanism to stabilize the center of buoyancy and gravity, and a transmission mechanism like an H-BOT or H-type gantry robot to manage posture control.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If a power source that is a heavy object moves together with the moving member to enable posture control, then the robot can adjust its center of gravity, but large buoyancy is required and the center of gravity fluctuates easily

Engineering Contradiction:

Improveposture control capabilityVSAvoidcenter of gravity stability

Core Design Contradiction:

Ease of operationVSStability of the object's composition

Solution Approach 1:

The robot system is divided into a fixed base portion and a movable float portion. The power source is segregated and fixed to the base portion, while only the float portion moves to adjust posture. This segmentation allows the float to change the center of gravity without requiring the power source to move, thereby maintaining stability while enabling posture control.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The float acts as an intermediary component between the fixed power source and the posture control function. By moving the float rather than the power source, the system achieves posture adjustment through a lighter intermediate element, reducing the buoyancy requirement and minimizing center of gravity fluctuations.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Ease of operation

If the float is moved by posture control in a state with large tidal current, then the robot can maintain appropriate posture, but the float cannot be driven against the external force

Engineering Contradiction:

Improveposture controlVSAvoiddriving force against current

Core Design Contradiction:

Ease of operationVSForce

Solution Approach 1:

The float functions as a counterweight mechanism that balances external forces from tidal currents. By adjusting the position of the float, the robot can counteract the moment caused by water current, enabling posture control even in harsh environments without requiring the float to move against strong currents.

Inventive Principle:

Principle #8Anti-weight (Counterweight)

Solution Approach 2:

Instead of moving the float against the current to achieve posture control, the system inverts the approach by using the float's position adjustment to create a counterbalancing moment that opposes the current's effect. This allows posture control to be achieved passively rather than by actively fighting the current.

Inventive Principle:

Principle #13The other way round (Inversion)

3Adaptability or versatility

If two independent power sources are used to move the moving member by two-dimensional translation motion, then the mechanism can achieve complex movement, but the center of buoyancy and center of gravity tend to fluctuate

Engineering Contradiction:

Improvetwo-dimensional movement capabilityVSAvoidcenter of buoyancy stability

Core Design Contradiction:

Adaptability or versatilityVSStability of the object's composition

Solution Approach 1:

The system segments the power transmission function from the buoyancy control function. A single power source on the fixed base drives the two-dimensional translation of the float through a transmission mechanism, while the float's movement alone adjusts the center of gravity without involving power source movement, thus maintaining center of buoyancy stability.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent replaces the conventional approach of moving power sources with a fixed power source coupled to a transmission mechanism. The mechanical system transmits motion from the fixed power source to the float, enabling two-dimensional movement while keeping the power source stationary, thereby preventing fluctuations in center of buoyancy and gravity.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The design stabilizes the center of buoyancy and gravity, enhances posture control responsiveness, reduces fluid resistance, and optimizes space usage, allowing for efficient operation in challenging environments.

Implementation Method 1

a moving member M that is moved to change at least any of a center of buoyancy or a center of gravity of the first portion 11 and the second portion 12 as a whole

Methodology Applied

Scientific EffectBuoyancy: Archimedes' Principle (Buoyancy)

Data Source

PatentUS20250269945A1robot

Publication Date: 2025.08.28 HONDA MOTOR CO LTD

AI summary

A robot includes a first portion and a second portion coupled to each other. The second portion includes a moving member that is moved for changing at least any of the center of buoyancy and the center of gravity in the robot as whole, and a drive unit that moves the moving member by two-dimensional translation motion. The drive unit includes a power source that outputs power for moving the moving member and is fixed to the first portion.