Movable device in water

Abstract

An underwater moving device comprises a shell unit, a control unit and a propelling unit. The shell unit comprises a base and an upper cover connected with the base in a liquid-tight mode. The control unit is arranged in the shell unit and comprises a circuit module and a gravity center moving module electrically connected with the circuit module. The gravity center moving module is provided with a loading part which can move front and back in the front-back direction and has a certain weight, and a gravity center driving mechanism linked with the loading part to move front and back. The gravity center driving mechanism drives the loading part to move so as to change the gravity center position of the underwater moving device, and the underwater moving device is controlled to move upwards or downwards in water. The propelling unit is connected with the shell unit and electrically connected with the control unit and used for generating moving thrust in water. Through the gravity center moving module with a simple overall mechanism, the gravity center position of the underwater moving device can be changed, and the effect of controlling the underwater moving device to move upwards or downwards in water is achieved.

Description

Technical Field

[0001] The present invention relates to an underwater activity device, in particular to an underwater activity device with a relatively simple structure. Background Art

[0002] Common aquatic devices, such as the bionic turtle, can be used in scientific research, education and entertainment. The bionic turtle mainly imitates the appearance and swimming movements of a turtle, so the bionic turtle has a pair of movable front limbs and a pair of hind limbs, and can be controlled to swim up or down.

[0003] In order to make the forelimbs and hindlimbs have dynamics similar to those of a real turtle, the existing driving mechanism for driving the forelimbs and hindlimbs is usually composed of components such as motors, gears, pulleys, belts, connecting rods, etc. Since the existing driving mechanism uses more components, the overall structure is more complicated and the volume is larger. If a waterproof motor is required, the manufacturing cost will be increased.

[0004] There is still room for improvement in how to control the underwater moving device to move up or down with a simpler mechanism design. If the underwater moving device is a bionic turtle, how to make it have similar dynamics to a real turtle and save manufacturing costs also needs further improvement. Summary of the invention

[0005] An object of the present invention is to provide an underwater activity device with a relatively simple overall structure.

[0006] In some embodiments of the present invention, the underwater activity device includes a housing unit, a control unit, and a propulsion unit. The housing unit includes a base and an upper cover connected to the base in a liquid-tight manner. The control unit is disposed in the housing unit and includes a circuit module and a center of gravity moving module electrically connected to the circuit module. The center of gravity moving module has a load-bearing member that can move forward and backward in the front-back direction and has a certain weight, and a center of gravity driving mechanism that links the load-bearing member to move forward and backward. The load-bearing member is driven to move by the center of gravity driving mechanism to change the weight of the underwater activity device.

[0007] The propulsion unit is connected to the housing unit and is electrically connected to the control unit to generate thrust for movement in water.

[0008] In some implementations, the load-carrying member has a box body and a plurality of batteries disposed in the box body.

[0009] In some embodiments, the base has a front seat body and a rear seat body connected to the middle of the rear side of the front seat body, the front seat body defines a front accommodating space, the rear seat body defines a rear accommodating space, and the rear accommodating space is communicated with the front accommodating space, the load-bearing member is located in the front accommodating space, and the center of gravity drive mechanism has a center of gravity motor located in the rear accommodating space, and a crank connecting rod group connecting the center of gravity motor and the load-bearing member.

[0010] In some embodiments, the propulsion unit includes two front limb mechanisms connected to the front seat body, and two rear limb mechanisms connected to the rear seat body. The base also has two front mounting frames connected to the front seat body, and two rear mounting frames connected to the rear seat body. The front seat body has two front threading holes whose positions correspond to the front mounting frames, so that the space defined by the front mounting frames is connected to the front accommodating space. The rear seat body has two rear threading holes whose positions correspond to the rear mounting frames, so that the space defined by the rear mounting frames is connected to the rear accommodating space. Each forelimb mechanism includes a forelimb motor accommodated in the corresponding front mounting frame, a front waterproof cover which is liquid-tightly connected to the front mounting frame and covers the forelimb motor, a forelimb rotating shaft connected to the forelimb motor and passing through the front waterproof cover, and a forelimb rotating shaft connected to the forelimb rotating shaft. A forelimb module connected and linked with it, the forelimb motor is electrically connected to the control unit through a wire passing through the corresponding front threading hole, and is used to drive the forelimb shaft to rotate around its own axis, the forelimb shaft is rotatable and liquid-tightly penetrated in the front waterproof cover, so that the forelimb motor is kept in a liquid-tight space, each hind limb mechanism includes a hind limb motor accommodated in the corresponding rear mounting frame, a rear waterproof cover liquid-tightly connected to the rear mounting frame and covering the hind limb motor, a hind limb shaft connected to the hind limb motor and passing through the rear waterproof cover, and a hind limb module connected to the hind limb shaft and linked with it, the hind limb motor is electrically connected to the control unit through a wire passing through the corresponding rear threading hole, and is used to drive the hind limb shaft to rotate around its own axis, the hind limb shaft is rotatable and liquid-tightly penetrated in the rear waterproof cover, so that the hind limb motor is kept in a liquid-tight space.

[0011] In some embodiments, the front seat body further comprises a rectangular front bottom wall, two front side walls extending upward from the left and right sides of the front bottom wall, a head wall extending upward from the front side of the front bottom wall and connected to the front side of the front side wall, and two middle walls extending upward from the rear side of the front bottom wall, respectively connected to the rear sides of the front side walls and spaced from each other, the front bottom wall, the front side walls, the head wall, and the middle walls extending upward from the rear side of the front bottom wall.

[0012] The wall and the middle wall jointly define the front accommodating space, the rear seat body also has a rectangular rear bottom wall extending from the rear side of the front bottom wall between the middle walls, two rear side walls extending upward from the left and right sides of the rear bottom wall and respectively connected to the middle wall, and a tail wall extending upward from the rear side of the rear bottom wall and connected to the rear side of the rear side wall. The rear bottom wall, the rear side wall and the tail wall jointly define the rear accommodating space, the front mounting frame is integrally connected to the head wall at intervals on the left and right, and the front threading holes penetrate the head wall, the rear mounting frame is respectively integrally connected to the rear side walls, and the rear threading holes respectively penetrate the rear side walls.

[0013] In some embodiments, each hind limb module has a hind limb fixing portion fixedly connected to the corresponding hind limb rotating shaft, and a hind limb sheet portion extending from the hind limb fixing portion. The hind limb fixing portion is linked to the hind limb rotating shaft to rotate around the hind limb rotating shaft and drive the hind limb sheet portion to swing up and down.

[0014] In some embodiments, each forelimb module has an L-shaped connecting rod and a forefoot-shaped part rotatably connected to the L-shaped connecting rod, the L-shaped connecting rod having a forelimb fixing part fixedly connected to the corresponding forelimb rotating shaft, and a first pivot part vertically connected to the forelimb fixing part, the forefoot-shaped part having a second pivot part pivotally connected to the first pivot part, and a forelimb body part linked to the second pivot part, the axis of the forelimb rotating shaft is defined as the first axis, the second pivot part can rotate around a second axis perpendicular to the first axis, the forelimb fixing part is linked to the forelimb rotating shaft to rotate around the first axis and drive the forelimb body part to swing up and down, and when in water, the thrust generated by the water pressure during the up and down swinging of the forelimb body part drives the second pivot part to rotate around the second axis.

[0015] In some embodiments, the first pivot portion and one of the second pivot portions form an arc-shaped slot, and the other forms a protruding column that cooperates with the arc-shaped slot to slide relatively within the arc-shaped slot, and the arc-shaped slot cooperates with the protruding column to limit the rotation range of the second pivot portion relative to the first pivot portion.

[0016] In some embodiments, the forefoot-shaped member also has a supporting portion integrally connected to the second pivot portion and extending along the second axis, the forelimb body portion is made of soft material and the portion where the forelimb body portion is connected to the supporting portion is located to one side of the center of gravity of the forelimb body portion.

[0017] In some embodiments, the forelimb body is formed with a bending line extending parallel to the first axis, the bending line is located near one end of the support portion away from the second pivot portion, and separates the forelimb body into a side swinging section away from the second pivot portion, and the side swinging section can swing around the bending line as the axis.

[0018] BCPI-230237 Page 4 / 10

[0019] The present invention has the following effects: the overall structure design of the underwater activity device of the present invention is relatively simple, and the parts can be assembled simply and quickly through the integrated design of the base. And through the simple center of gravity moving module of the overall structure, the center of gravity position of the underwater activity device can be changed, so as to achieve the effect of controlling the underwater activity device to move up or down in the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features and effects of the present invention will be clearly presented in the embodiments with reference to the accompanying drawings, in which:

[0021] Figure 1 is a perspective view of a first embodiment of an underwater activity device of the present invention;

[0022] Figure 2 is a perspective exploded view of the first embodiment;

[0023] Figure 3 is a perspective exploded view of the first embodiment with some components omitted;

[0024] Figure 4 is a perspective exploded view of the first embodiment with some components omitted;

[0025] Figure 5 A three-dimensional diagram mainly illustrating the center of gravity moving module of the first embodiment;

[0026] Figure 6 An incomplete stereogram mainly illustrating the forelimb mechanism of the first embodiment;

[0027] Figure 7 is along Figure 6 An incomplete cross-sectional view taken along line VII-VII;

[0028] Figure 8 An incomplete exploded perspective view mainly illustrating the forelimb mechanism;

[0029] Fig. 9 An incomplete three-dimensional exploded view mainly illustrating the corresponding relationship between the protruding column and the arc-shaped sliding groove of the forelimb mechanism; and

[0030] Fig.10 An incomplete stereoscopic diagram mainly illustrates the forelimb mechanism of the second embodiment of the underwater activity device of the present invention. DETAILED DESCRIPTION

[0031] Before the present invention is described in detail, it should be noted that similar components are denoted by the same reference numerals in the following description.

[0032] See also Figures 1 to 3The first embodiment of the underwater activity device of the present invention comprises a housing unit 1, a control unit 2 disposed in the housing unit 1, and a propulsion unit 3 connected to the housing unit 1 and electrically connected to the control unit 2. In this embodiment, the underwater activity device is a bionic turtle.

[0033] The housing unit 1 includes a base 11, an upper cover 12 connected to the base 11 in a liquid-tight manner, a turtle head-shaped member 13 connected to the middle of the front side of the base 11, and a turtle shell-shaped member 14 connected to the upper cover 12 and covering the upper cover 12.

[0034] The shell-shaped member 14 is used to imitate the appearance of a turtle.

[0035] See also Figure 1 , Figure 3 and Figure 4The base 11 has a front seat body 15, a rear seat body 16 connected to the middle of the rear side of the front seat body 15, two front mounting frames 17 connected to the front seat body 15, and two rear mounting frames 18 connected to the rear seat body 16. The front seat body 15 has a rectangular front bottom wall 151, two front side walls 152 extending upward from the left and right sides of the front bottom wall 151, a head wall 153 extending upward from the front side of the front bottom wall 151 and connecting the front side of the front side wall 152, and two middle walls 154 extending upward from the rear side of the front bottom wall 151, respectively connecting the rear sides of the front side walls 152 and spaced from each other. The front bottom wall 151, the front side walls 152, the head wall 153 and the middle wall 154 jointly define a front accommodating space 155. The rear seat body 16 has a rear bottom wall 161 extending from the rear side of the front bottom wall 151 between the middle wall 154 and in a rectangular shape, two rear side walls 162 extending upward from the left and right sides of the rear bottom wall 161 and respectively connected to the middle wall 154, and a tail wall 163 extending upward from the rear side of the rear bottom wall 161 and connected to the rear side of the rear side wall 162. The rear bottom wall 161, the rear side wall 162 and the tail wall 163 jointly define a rear accommodating space 164, and the rear accommodating space 164 is connected to the front accommodating space 155. The front installation frame 17 is connected to the head wall 153 in an integral manner with each other at intervals on the left and right sides. The front seat body 15 also has two front threading holes 156 whose positions correspond to the front installation frame 17 and penetrate the head wall 153, so that the space defined by the front installation frame 17 is connected to the front accommodating space 155. The rear mounting frame 18 is integrally connected with the rear side wall 162. The rear seat 16 also has two rear threading holes 165, which are respectively located corresponding to the rear mounting frame 18 and respectively penetrate the rear side wall 162, so that the space defined by the rear mounting frame 18 is connected with the rear accommodating space 164. In this embodiment, an elastic sealing ring 19 is provided on the top edge of the base 11, and the peripheral shape of the upper cover 12 matches the base 11. The upper cover 12 and the base 11 are fixed by a plurality of screws, and are liquid-tightly joined by the elastic sealing ring 19 to prevent liquid from passing through the joint between the upper cover 12 and the base 11.

[0036] See also Figures 3 to 5 The control unit 2 includes a circuit module 21 and a center of gravity moving module 22 electrically connected to the circuit module 21. In this embodiment, the circuit module 21 includes two circuit boards 211 electrically connected to each other, a limit switch group 212 provided on one of the circuit boards 211, a power switch 213 provided on one of the front side walls 152 of the base 11 and electrically connected to the circuit board 211, and a charging port 214 provided on the front bottom wall 151 of the base 11 and electrically connected to the circuit board 211 (see Figure 1). The center of gravity moving module 22 has a load-bearing member 221 with a certain weight that can move forward and backward along a front-to-back direction D1, a center of gravity driving mechanism 222 that links the load-bearing member 221 to move forward and backward, and two track members 223 arranged on the front seat body 15 of the base 11 to guide the load-bearing member 221 to move forward and backward. In this embodiment, the load-bearing member 221 is located in the front accommodating space 155 and is a battery module that also has the function of supplying power. The load-bearing member 221 has a box body 221a, a plurality of batteries 221b arranged in the box body 221a, a connecting portion 221c arranged in the middle of the top surface of the box body 221a and extending along the front-to-back direction D1, and a sensing portion 221d that extends vertically upward from the connecting portion 221c and cooperates with the limit switch group 212. The box body 221a has two sliding grooves 221e formed on the left and right sides respectively. The sliding grooves 221 e are respectively matched with the rail members 223 , so that the box body 221 a can be supported and guided by the rail members 223 to move along the front-to-back direction D1 .

[0037] The center of gravity driving mechanism 222 has a center of gravity motor 222a located in the rear accommodation space 164 and electrically connected to the circuit board 211, and a crank connecting rod group 222b connecting the center of gravity motor 222a and the load-bearing member 221. The crank connecting rod group 222b is connected to the rear end of the connecting portion 221c and is driven by the center of gravity motor 222a to drive the load-bearing member 221 to move forward and backward. The center of gravity motor 222a is controlled by the circuit module 21, and the position of the load-bearing member 221 is detected by the limit switch group 212, so as to control the travel of the load-bearing member 221. The center of gravity motor 222a is rotated forward or reversely to drive the load-bearing member 221 to move forward or backward, and the rotation speed of the center of gravity motor 222a is controlled, that is, the speed of movement of the load-bearing member 221 can be controlled, and the load-bearing member 221 can be fixed at a certain position of the travel. The center of gravity driving mechanism 222 drives the load-bearing member 221 to move so as to change the center of gravity position of the underwater activity device, and controls the underwater activity device to move upward or downward in the water. For example, controlling the load-bearing member 221 to move forward can make the center of gravity of the underwater activity device lean toward the front side and tilt toward the front side, that is, the turtle head-shaped member 13 of the underwater activity device can move downward in the water. Similarly, controlling the load-bearing member 221 to move backward can make the center of gravity of the underwater activity device lean toward the rear side and tilt toward the rear side, that is, the turtle head-shaped member 13 of the underwater activity device can move upward in the water.

[0038] The overall structure of the center of gravity moving module 22 is simple. Only by driving the weight-bearing member 221 to move forward and backward through the center of gravity driving mechanism 222, the center of gravity position of the underwater mobile device can be changed, so as to achieve the effect of controlling the underwater mobile device to move up or down in the water. In addition, the circuit module 21 and the center of gravity moving module 22 are arranged together on the base 11, and the base 11BCPI-230237 Page 7 / 10 forms a liquid-tight space together with the upper cover 12, which can also simplify the mechanism design. Moreover, in the present embodiment, the weight-bearing member 221 is a battery module, which uses the weight of the battery 221b to achieve the effect of changing the center of gravity position and can also have the function of supplying power, so as to reduce the space occupied by the use of the counterweight. Of course, the weight-bearing member 221 is not limited to the battery module, and other parts groups can also be used in the modified embodiment.

[0039] See also Figure 3 In this embodiment, the propulsion unit 3 is used to generate thrust for movement in water, and includes two front limb mechanisms 31 connected to the front seat body 15, and two rear limb mechanisms 32 connected to the rear seat body 16.

[0040] See also Figure 4 , Figures 6 to 8 Each forelimb mechanism 31 includes a forelimb motor 311 accommodated in the corresponding front mounting frame 17, a front waterproof cover 312 connected to the front mounting frame 17 in a liquid-tight manner and covering the forelimb motor 311, a forelimb shaft 313 connected to the forelimb motor 311 and passing through the front waterproof cover 312, an adapter 314 connecting the forelimb motor 311 and the forelimb shaft 313, and a forelimb module 315 connected to the forelimb shaft 313 and linked thereto. The forelimb motor 311 is electrically connected to the control unit 2 through the corresponding front threading hole 156 through a wire (not shown), and is used to drive the forelimb shaft 313 to rotate around its own axis. A cover sealing ring 312a is provided at the junction of the front waterproof cover 312 and the front mounting frame 17 to prevent liquid from passing through the junction of the front waterproof cover 312 and the front mounting frame 17, so as to achieve a liquid-tight connection effect. The forelimb shaft 313 is rotatably and liquid-tightly disposed in the front waterproof cover 312, so that the forelimb motor 311 is kept in a liquid-tight space. In this embodiment, two shaft sealing rings 313a are disposed between the forelimb shaft 313 and the front waterproof cover 312, and the shaft sealing rings 313a are arranged at intervals along the axial direction of the forelimb shaft 313 to ensure that liquid can be prevented from passing through the gap between the forelimb shaft 313 and the front waterproof cover 312.

[0041] See also Figure 6 , Figure 8 and Fig. 9, each forelimb module 315 has an L-shaped connecting rod 316, and a forefoot-shaped member 317 rotatably connected to the L-shaped connecting rod 316. The L-shaped connecting rod 316 has a forelimb fixing portion 316a fixedly connected to the corresponding forelimb rotating shaft 313, and a first pivoting portion 316b vertically connected to the forelimb fixing portion 316a. In the present embodiment, the forelimb fixing portion 316a is generally in the shape of a C-shaped ring, and the C-shaped opening is locked and closed by a bolt 316c and a nut 316d, so that the forelimb fixing portion 316a is tightly fixed to the forelimb rotating shaft 313. The forefoot-shaped member 317 has a second pivoting portion 317a pivotally connected to the first pivoting portion 316b, and is integrally connected to the second pivoting portion 317a and is connected along the second axis A2 (see Figure 6 ) and a front limb body portion linked to the second pivot portion 317a BCPI-230237 Page 8 / 10

[0042] 317c. In the present embodiment, the forelimb sheet body 317c is made of soft material, and the forelimb sheet body 317c is connected to the support portion 317b, and is linked to the second pivoting portion 317a through the support portion 317b. The part where the forelimb sheet body 317c is connected to the support portion 317b is located at one side of the center of gravity of the forelimb sheet body 317c. Specifically, the support portion 317b is connected to the inner edge of the forelimb sheet body 317c that is close to its front side edge and adjacent to the second pivoting portion 317a. In the implementation of the change, the forelimb sheet body 317c can also be a hard material, which can be adjusted according to the use requirements. However, the forelimb sheet body 317c can produce a more vivid dynamic visual effect using soft materials. In addition, in the present embodiment, the forelimb sheet body 317c and the support portion 317b are fixed by a plurality of screws. In a modified implementation, the forelimb body 317c and the support portion 317b may also be fixed to each other by using a concave-convex structure, or by using a coupling agent to combine heterogeneous materials. The support portion 317b may be made of materials such as metal, plastic, ceramic or glass, and the forelimb body 317c may be made of a polymer elastic material such as silicone, synthetic rubber, etc.

[0043] The axis of the forelimb shaft 313 is defined as the first axis A1, and the second pivoting portion 317a can rotate around a second axis A2 perpendicular to the first axis A1. The forelimb fixing portion 316a is linked with the forelimb shaft 313 to rotate around the first axis A1 and drive the forelimb sheet body 317c to swing up and down in an up and down direction D2. Moreover, when in water, during the process of the forelimb sheet body 317c being linked up and down by the forelimb shaft 313, the forelimb sheet body 317c is subjected to the thrust generated by the water pressure, and drives the second pivoting portion 317a to rotate around the second axis A2. Since the part where the forelimb sheet body 317c is connected to the support portion 317b is located at the center of gravity of the forelimb sheet body 317c, the lever principle can be applied to enable the forelimb sheet body 317c to produce a better rotation effect of rotating around the second axis A2. In this embodiment, the second pivoting portion 317a forms an arcuate slot 318, and the first pivoting portion 316b forms a boss 319 that cooperates with the arcuate slot 318 to slide relatively in the arcuate slot 318. The arcuate slot 318 cooperates with the boss 319 to limit the rotation range of the second pivoting portion 317a relative to the first pivoting portion 316b. In a variant implementation, the arcuate slot 318 can be provided on the first pivoting portion 316b, and the boss 319 can be provided on the second pivoting portion 317a, which can achieve the same function. In this way, each forelimb mechanism 31 can produce the effect of two-axis rotation with only a single motor.

[0044] See also Figure 3 and Figure 4Each hind limb mechanism 32 includes a hind limb motor 321 accommodated in the corresponding rear mounting frame 18, a rear waterproof cover 322 connected to the rear mounting frame 18 and covering the hind limb motor 321, a hind limb shaft 323 connected to the hind limb motor 321 and passing through the rear waterproof cover 322, and a hind limb module 324 connected to the hind limb shaft 323 and linked with it. The hind limb motor 321 is electrically connected to the control unit 2 through a wire (not shown) passing through the corresponding rear threading hole 165, and is used to drive the hind limb shaft 323 to rotate around its own axis. The hind limb shaft 323 is rotatable and is liquid-tightly penetrated in the rear waterproof cover 322, so that the hind limb motor 321 is kept in a liquid-tight space. In this embodiment, the rear waterproof cover 322 is connected to the rear mounting frame 18 in a liquid-tight manner in the same manner as the front waterproof cover 312 is connected to the front mounting frame 17. Moreover, the rear limb shaft 323 is connected to the rear waterproof cover 322 in a liquid-tight manner in the same manner as the front limb shaft 313 is connected to the front waterproof cover 312. Each rear limb module 324 has a rear limb fixing portion 324a fixedly connected to the corresponding hind limb shaft 323, and a rear limb sheet portion 324b extending from the hind limb fixing portion 324a. The hind limb fixing portion 324a is linked to the hind limb shaft 323 to rotate around the hind limb shaft 323 and drive the hind limb sheet portion 324b to swing up and down in the up and down direction D2. In this embodiment, the fixing method of the hind limb fixing portion 324a and the hind limb rotation shaft 323 is the same as the fixing method of the front limb fixing portion 316a and the front limb rotation shaft 313, which will not be described in detail here.

[0045] The forelimb motor 311 of the forelimb mechanism 31 and the hindlimb motor 321 of the hindlimb mechanism 32 can be kept in a liquid-tight space to achieve a waterproof effect without using expensive waterproof motors, which can save material costs. In addition, the forelimb motor 311 and the hindlimb motor 321 are respectively installed on the front mounting frame 17 and the rear mounting frame 18, and are electrically connected to the control unit 2 through the corresponding front threading hole 156 and the rear threading hole 165 through a wire (not shown), which can also simplify the mechanism design.

[0046] See also Fig.10The second embodiment of the underwater activity device of the present invention is different from the first embodiment in that the forelimb body portion 317c is formed with a bending line 317d extending parallel to the first axis A1. The bending line 317d is located near the end of the support portion 317b away from the second pivot portion 317a, and separates the forelimb body portion 317c into a side swinging section 317e away from the second pivot portion 317a. When in water, the side swinging section 317e can swing around the bending line 317d as an axis. Similar to the first embodiment, when in water, the forelimb body portion 317c is linked to the forelimb shaft 313 to swing up and down in the up and down direction D2. The forelimb body portion 317c is subjected to the thrust generated by the water pressure, driving the second pivot portion 317a to rotate around the second axis A2. In the second embodiment, the front limb body 317c is subjected to the thrust force generated by the water pressure and can also drive the side swing section 317e to swing around the bending line 317d as the axis. In this way, the front limb body 317c can produce a multi-axis dynamic effect.

[0047] In summary, the overall structural design of the underwater activity device of the present invention is relatively simple. Through the integrated design of the base 11, the parts can be assembled simply and quickly. And through the simple center of gravity moving module 22 of the overall structure, the center of gravity position of the underwater activity device can be changed to achieve the effect of controlling the underwater activity device to move up or down in the water. Moreover, the forelimb motor 311 of the forelimb mechanism 31 and the hindlimb motor 321 of the hindlimb mechanism 32 can be kept in a liquid-tight space to achieve a waterproof effect without using expensive waterproof motors, which can save material costs.

[0048] The above are merely embodiments of the present invention and should not be used to limit the scope of the present invention. That is, any simple equivalent changes and modifications made according to the claims and description of the present invention still fall within the scope of the present invention.

Claims

1. An underwater activity device, Features: Include: A housing unit, comprising a base and an upper cover connected to the base in a liquid-tight manner; A control unit is disposed in the housing unit and includes a circuit module and a gravity center moving module electrically connected to the circuit module, the gravity center moving module includes a load-bearing member that can move forward and backward along the front-back direction and has a certain weight, and a gravity center driving mechanism that links the load-bearing member to move forward and backward, and the gravity center driving mechanism drives the load-bearing member to move to change the gravity center position of the underwater activity device, thereby controlling the underwater activity device to move up or down in the water; and The propulsion unit is connected to the housing unit and electrically connected to the control unit, and is used to generate thrust for movement in water.

2. The underwater activity device according to claim 1, Features: The load-bearing component comprises a box body and a plurality of batteries arranged in the box body.

3. The underwater activity device according to claim 1, Features: The base has a front seat body and a rear seat body connected to the middle of the rear side of the front seat body, the front seat body defines a front accommodating space, the rear seat body defines a rear accommodating space, and the rear accommodating space is connected to the front accommodating space, the load-bearing member is located in the front accommodating space, and the center of gravity drive mechanism has a center of gravity motor located in the rear accommodating space, and a crank connecting rod group connecting the center of gravity motor and the load-bearing member.

4. The underwater activity device according to claim 3, Features: The propulsion unit includes two front limb mechanisms connected to the front seat body and two rear limb mechanisms connected to the rear seat body. The base also has two front mounting frames connected to the front seat body and two rear mounting frames connected to the rear seat body. The front seat body has two front threading holes corresponding to the positions of the front mounting frames, so that the space defined by the front mounting frames is connected to the front accommodating space. The rear seat body has two rear threading holes corresponding to the positions of the rear mounting frames, so that the space defined by the rear mounting frames is connected to the rear accommodating space. Each forelimb mechanism includes a forelimb motor accommodated in the corresponding front mounting frame, a front waterproof cover connected to the front mounting frame liquid-tightly and covering the forelimb motor, a forelimb shaft connected to the forelimb motor and passing through the front waterproof cover, and a forelimb module connected to the forelimb shaft and linked thereto. The forelimb motor is electrically connected to the control unit through a wire passing through the corresponding front threading hole, and is used to drive the forelimb shaft to rotate around its own axis. The forelimb BCPI-230237 Page 2 / 3 The rotating shaft is rotatable and liquid-tightly penetrated in the front waterproof cover, so that the forelimb motor is kept in a liquid-tight space. Each hind limb mechanism includes a hind limb motor accommodated in the corresponding rear mounting frame, a rear waterproof cover liquid-tightly connected to the rear mounting frame and covering the hind limb motor, a hind limb rotating shaft connected to the hind limb motor and passing through the rear waterproof cover, and a hind limb module connected to the hind limb rotating shaft and linked thereto. The hind limb motor is electrically connected to the control unit through a wire passing through the corresponding rear threading hole, and is used to drive the hind limb rotating shaft to rotate around its own axis. The hind limb rotating shaft is rotatable and liquid-tightly penetrated in the rear waterproof cover, so that the hind limb motor is kept in a liquid-tight space.

5. The underwater activity device according to claim 4, Features: The front seat body also has a rectangular front bottom wall, two front side walls extending upward from the left and right sides of the front bottom wall, a head wall extending upward from the front side of the front bottom wall and connected to the front side of the front side wall, and two middle walls extending upward from the rear side of the front bottom wall, respectively connected to the rear sides of the front side walls and spaced from each other. The front bottom wall, the front side walls, the head wall and the middle walls jointly define the front accommodating space. The rear seat body also has a rectangular portion extending from the rear side of the front bottom wall between the middle walls. The rear bottom wall, two rear side walls extending upward from the left and right sides of the rear bottom wall and respectively connected to the middle wall, and a tail wall extending upward from the rear side of the rear bottom wall and connected to the rear side of the rear side wall, the rear bottom wall, the rear side wall and the tail wall jointly define the rear accommodating space, the front installation frame is integrally connected to the head wall at intervals on the left and right, and the front threading holes penetrate the head wall, the rear installation frame is respectively integrally connected to the rear side walls, and the rear threading holes respectively penetrate the rear side walls.

6. The underwater activity device according to claim 5, Features: Each hind limb module has a hind limb fixing part fixedly connected to the corresponding hind limb rotating shaft, and a hind limb sheet part extending from the hind limb fixing part. The hind limb fixing part is linked with the hind limb rotating shaft to rotate around the hind limb rotating shaft and drive the hind limb sheet part to swing up and down.

7. The underwater activity device according to claim 5, Features: Each forelimb module has an L-shaped connecting rod and a forefoot-shaped member rotatably connected to the L-shaped connecting rod, the L-shaped connecting rod has a forelimb fixing portion fixedly connected to the corresponding forelimb rotating shaft, and a first pivoting portion vertically connected to the forelimb fixing portion, the forefoot-shaped member has a second pivoting portion pivotally connected to the first pivoting portion, and a forelimb body portion linked to the second pivoting portion, the axis of the forelimb rotating shaft is defined as the first axis, the second pivoting portion can rotate around a second axis perpendicular to the first axis, the forelimb fixing portion is linked to the forelimb rotating shaft to rotate around the first axis and drive BCPI-230237 Page 3 / 3 The forelimb body swings up and down, and when in water, the thrust force generated by the water pressure during the up and down swinging of the forelimb body drives the second pivotal part to rotate around the second axis.

8. The underwater activity device according to claim 7, Features: One of the first pivoting part and the second pivoting part forms an arcuate slot, and the other one forms a convex column which cooperates with the arcuate slot to slide relatively in the arcuate slot, and the arcuate slot cooperates with the convex column to limit the rotation range of the second pivoting part relative to the first pivoting part.

9. The underwater activity device according to claim 8, Features: The forefoot-shaped member also has a support portion integrally connected to the second pivot portion and extending along the second axis. The forelimb body is made of soft material and the portion where the forelimb body is connected to the support portion is located to one side of the center of gravity of the forelimb body.

10. The underwater activity device according to claim 9, Features: The forelimb body is formed with a bending line extending parallel to the first axis. The bending line is located near one end of the support portion away from the second pivot portion, and separates the forelimb body into a side swinging section away from the second pivot portion. The side swinging section can swing around the bending line as the axis.

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