Turtle type robot

Abstract

To provide a turtle type robot.SOLUTION: A turtle type robot includes a waterproof housing unit 1, a front leg drive motor 4, a hind leg drive motor 5, a front leg module, a hind leg module and a control unit 3. The waterproof housing unit 1 includes: a waterproof casing 11 for partitioning waterproof space 111 and having front leg connection holes 112 and hind leg connection holes 113 communicating with the waterproof space 111; a front leg connector 12 connecting with the front leg connection holes 112; and a hind leg connector 13 connecting with the hind leg connection holes 113. The front leg drive motor 4 and the hind leg drive motor 5, installed in the waterproof space 111, are connected to the front leg connector 12 and the hind leg connector 13 respectively and controlled by the control unit 3 installed in the waterproof space 111. The front leg module is connected to the front leg connector 12 detachably and is driven by the front leg drive motor 4. The hind leg module is connected to the hind leg connector 13 detachably and is driven by the hind leg motor 5.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a bio - type robot, and particularly to a turtle - type robot.

Background Art

[0002] Generally, conventional turtle - type robots include front and rear limbs with relatively complex transmission mechanisms to mimic the movement and swimming of turtles in water. Each of the front and rear limbs includes a plurality of joints connected to a plurality of output shafts driven by a plurality of motors, and controlling the movement of conventional turtle - type robots is quite troublesome. Further, in conventional turtle - type robots, when motors, gears, pulleys, belts, link rods, etc. are adopted as transmission mechanisms, these parts need to have a waterproof function. For example, in conventional turtle - type robots, adopting waterproof motors that are much more expensive than ordinary motors without a waterproof function will increase the manufacturing cost. Further, since the front and rear limbs have a relatively complex structure controlled by a plurality of motors, the maintenance of conventional turtle - type robots is also troublesome.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Therefore, an object of the present invention is to provide a turtle - type robot capable of reducing at least one of the drawbacks of the prior art.

Means for Solving the Problems

[0005] The turtle-shaped robot includes a waterproof housing unit, two front limb drive motors, two hind limb drive motors, two front limb modules, two hind limb modules, and a control unit.

[0006] The waterproof housing unit includes a waterproof casing that defines a waterproof space inside it and has two front limb connection holes that are in fluid communication with the waterproof space and two hind limb connection holes that are in fluid communication with the waterproof space, two front limb connectors respectively connected to the front limb connection holes, and two hind limb connectors respectively connected to the hind limb connection holes.

[0007] The front limb drive motors are arranged in the waterproof space. Each of the front limb drive motors includes a front limb drive shaft connected to one of the respective front limb connectors. The hind limb drive motors are arranged in the waterproof space. Each of the hind limb drive motors includes a hind limb drive shaft connected to one of the respective hind limb connectors.

[0008] The front limb modules are respectively removably connected to the front limb connectors and are driven by the front limb drive motors via the respective front limb connectors. The hind limb modules are respectively removably connected to the hind limb connectors and are driven by the hind limb drive motors via the respective hind limb connectors.

[0009] The control unit is attached to the waterproof space of the waterproof casing and is configured to control the front limb drive motors and the hind limb drive motors.

Advantages of the Invention

[0010] Since two front limb drive motors, two rear limb drive motors, and a control unit are all arranged in the waterproof space of the waterproof casing, there is no need to adopt waterproof motors, and at the same time, the overall mechanism design of the turtle-shaped robot can be simplified. Furthermore, each of the two front limb modules and the two rear limb modules is driven by only one motor, and the two front limb modules are removably connected to two front limb connectors respectively, and the two rear limb modules are removably connected to two rear limb connectors respectively. Therefore, the two front limb modules and the two rear limb modules can be easily and quickly replaced, and the appearance change and maintenance of the turtle-shaped robot can be facilitated.

[0011] Other features and advantages of the present invention will become apparent in the following detailed description of the embodiments with reference to the accompanying drawings.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0013] Before explaining the present invention in more detail, it should be noted that, when considered appropriate, reference numerals or the ends of reference numerals are repeatedly used between each drawing to indicate corresponding or similar elements that may have the same characteristics.

[0014] Furthermore, in this specification, directional terms such as "upper", "lower", "left", "right", "front", and "rear" are used only for illustratively explaining the relative positions of a plurality of hardware components in the embodiments of the present invention in conjunction with the drawings, and are not intended to limit the scope of implementation of the present invention.

[0015] Referring to FIGS. 1 to 4, a turtle-shaped robot 100 according to an embodiment of the present invention is configured to be movable in water. The turtle-shaped robot 100 includes a waterproof housing unit 1, a decorative cover 2, a control unit 3, two front limb drive motors 4, two rear limb drive motors 5, two front limb modules 6, two rear limb modules 7, a weight module 8, and a head module 9.

[0016] The waterproof housing unit 1 includes a waterproof casing 11, two front limb connectors 12, two rear limb connectors 13 (only one is visible in the drawing), and a waterproof cover 14. The waterproof casing 11 defines a waterproof space 111 therein, and has two front limb connection holes 112 that are in fluid communication with the waterproof space 111, two rear limb connection holes 113 (only one is visible in the drawing) that are in fluid communication with the waterproof space 111, and a head connection hole 114 (see FIG. 6) that is in fluid communication with the waterproof space 111. The two front limb connectors 12 are respectively connected to the two front limb connection holes 112, and the two rear limb connection connectors 13 are respectively connected to the two rear limb connection holes 113. In this embodiment, as shown in FIG. 4, since a plurality of waterproof seal rings R are covered on the front limb connectors 12 and the rear limb connectors 13, the front limb connectors 12 can be sealingly connected to the front limb connection holes 112, and the rear limb connectors 13 can be sealingly connected to the rear limb connection holes 113.

[0017] In this embodiment, the waterproof casing 11 includes a lower casing 11a and an upper casing 11b. In other embodiments, the waterproof casing 11 may include a left half and a right half, and is not limited to this embodiment.

[0018] The waterproof space 111 has a main accommodation chamber 111a, two front motor accommodation chambers 111b arranged in front of the main accommodation chamber 111a, and two rear motor accommodation chambers 111c (only one is visible in the figure) arranged on both sides at the rear of the main accommodation chamber 111a. The waterproof casing 11 includes a main casing portion 115 that defines the main accommodation chamber 111a therein, two front limb motor casing portions 116 in which front limb connection holes 112 are respectively formed, and two rear limb motor casing portions 117 (only one is visible in the figure) in which rear limb connection holes 113 are respectively formed. The main casing portion 115 cooperates with the front limb motor casing portion 116 to define the front motor accommodation chamber 111b, and cooperates with the rear limb motor casing portion 117 to define the rear motor accommodation chamber 111c.

[0019] The decorative cover 2 surrounds the waterproof housing unit 1 and has an appearance imitating that of a turtle. The decorative cover 2 includes an upper half 21 and a lower half 22 arranged below the upper half 21.

[0020] The control unit 3 is attached to the main accommodation chamber 111a of the waterproof space 111 of the waterproof casing 11 and is configured to control the front limb drive motor 4 and the rear limb drive motor 5. In this embodiment, the control unit 3 includes two control circuit boards 31.

[0021] The two front limb drive motors 4 are arranged in the waterproof space 111 and are electrically connected to the control unit 3 and controlled thereby. Each of the front limb drive motors 4 includes a front motor main body 41 and a front limb drive shaft 42 which is connected to one respective front limb connector 12 and is driven to rotate about a first front rotation axis AF1 extending in the front-rear direction of one respective front limb connector 12. The front motor main bodies 41 of the front limb drive motors 4 are respectively received in the front motor accommodation chambers 111b.

[0022] The two rear limb drive motors 5 are arranged in the waterproof space 111 and are electrically connected to the control unit 3 and controlled thereby. Each of the rear limb drive motors 5 includes a rear motor main body 51 and a rear limb drive shaft 52 which is connected to one respective rear limb connector 13 and is driven to rotate about a rear rotation axis AR extending in a lateral direction orthogonal to the front-rear direction of one respective rear limb connector 13. The rear motor main bodies 51 of the rear limb drive motors 5 are respectively received in the rear motor accommodation chambers 111c.

[0023] The two front limb modules 6 are removably connected to the two front limb connectors 12 respectively via a plurality of bolts S and washers G, and are respectively driven by the two front limb drive motors 4 via the two front limb connectors 12. Each of the front limb modules 6 includes an L-shaped link rod 61 having a first segment 611 and a second segment 612, a front limb 62, and an angle limiting mechanism 63. For each front limb module 6, the first segment 611 of the L-shaped link rod 61 is attached to the front part of one of the respective front limb connectors 12 and extends away from the first segment 611 of the L-shaped link rod 61 of the other front limb module 6, and the second segment 612 extends forward from the distal end of the first segment 611 in the front-rear direction. For each front limb module 6, the front limb 62 is attached to the front part of the second segment 612 of the L-shaped link rod 61, covers the front part of the second segment 612, extends away from the front limb 62 of the other front limb module 6, and rotates about a second front rotation axis AF2 that is perpendicular to the first front rotation axis AF1 and extends laterally. Thereby, the front limb 62 sways up and down during its rotation and is propelled by receiving water resistance. In the present embodiment, each front limb 62 of the front limb module 6 includes a front limb frame 621 and a deformable front fin 622. In each front limb 62, the front limb frame 621 is attached to the front part of the second segment 612 of the L-shaped link rod 61, and the deformable front fin 622 surrounds and covers the front limb frame 621 and extends rearward as it moves away from the other deformable front fin 622 of the front limb module 6. Each deformable front fin 622 of the front limb module 6 is made of a flexible material (for example, a polymer material such as silicone or rubber).

[0024] In each front limb module 6, the angle limiting mechanism 63 is attached between the L-shaped link rod 61 and the front limb 62, and limits the rotation angle of the front limb 62 with respect to the second segment 612 of the L-shaped link rod 61. The angle limiting mechanism 63 has an arc-shaped slide groove 631 and a slide convex portion 632 that slidably engages with the arc-shaped slide groove 631. As the specific installation position of each angle limiting mechanism 63 of the front limb module 6, in the present embodiment, the slide convex portion 632 is formed on the second segment 612 of the L-shaped link rod 61, and the arc-shaped slide groove 631 is formed on the front limb frame 621 of the front limb 62. However, in other embodiments, conversely, the slide convex portion 632 may be formed on the front limb frame 621 of the front limb 62, and the arc-shaped slide groove 631 may be formed on the second segment 612 of the L-shaped link rod 61. Note that the structure of the angle limiting mechanism 63 is not limited to the present embodiment as long as it can limit the rotation angle of the front limb 62 with respect to the second segment 612 of the L-shaped link rod 61.

[0025] The two hind limb modules 7 are each removably connected to the hind limb connector 13 via a plurality of bolts S and washers G (only one bolt S and one washer G are visible in FIG. 3), and are each driven by two hind limb drive motors 5 via two hind limb connectors 13. Each of the hind limb modules 7 extends in a direction parallel to the lateral direction, and includes a hind limb link rod 71 attached to the rear portion of each one of the hind limb connectors 13, and a deformable hind fin 72 attached to the rear portion of the hind limb link rod 71, covering the rear portion of the hind limb link rod 71, and extending rearward in the front-rear direction. Each deformable hind fin 72 of the hind limb module 7 is made of a flexible material (for example, a polymer material such as silicone or rubber).

[0026] Since the deformable front flippers 622 of the front limb module 6 and the deformable rear flippers 72 of the rear limb module 7 are made of a flexible material, the appearance of the front limb module 6 and the rear limb module 7 looks more natural. Specifically, each of the deformable front flippers 622 is thicker at the front than at the rear and thicker at the inner side than at the outer side. Each of the deformable rear flippers 72 is thicker at the front than at the rear. Due to the material and configuration of the deformable front flippers 622 and the deformable rear flippers 72, when the front limb module 6 and the rear limb module 7 are subjected to water resistance when swaying in water, the rear and outer sides of each deformable front flipper 622 and the rear side of each deformable rear flipper 72 are deformed and curved, thereby mimicking the appearance and swimming of a turtle in water. Furthermore, since each front limb module 6 allows the front limb 62 to rotate about the second front rotation axis AF2 and the L-shaped link rod 61 to rotate about the first front rotation axis AF1, the movement of the turtle-shaped robot 100 is relatively flexible and variable.

[0027] In this embodiment, although a part of each of the two front limb modules 6 and the two rear limb modules 7 is made of a flexible deformable material, the two front limb modules 6 and the two rear limb modules 7 may be made of a rigid material as required and are not limited thereto.

[0028] Since the two front limb drive motors 4, the two rear limb drive motors 5, and the control unit 3 are all arranged in the waterproof space 111 of the waterproof casing 11, the overall mechanism design of the turtle-shaped robot 100 can be simplified, and ordinary motors without a waterproof function can be adopted as the two front limb drive motors 4 and the two rear limb drive motors 5.

[0029] Furthermore, each of the two front limb modules 6 and the two hind limb modules 7 is driven by only one motor. Since the two front limb modules 6 are removably connected to the front limb connector 12 respectively, and the two hind limb modules 7 are removably connected to the hind limb connector 13 respectively, the two front limb modules 6 and the two hind limb modules 7 can be quickly replaced, facilitating the change of the appearance and maintenance of the turtle-shaped robot 100.

[0030] Referring to FIGS. 4 to 6, the weight module 8 is disposed in the main accommodation chamber 111a of the waterproof space 111 of the waterproof casing 11. The weight module 8 includes a weight member 81 slidable with respect to the waterproof casing 11 along a longitudinal axis extending in the front-rear direction, a weight member drive motor 82 attached to the waterproof casing 11, and a crank connection mechanism 83 connecting between the weight member 81 and the weight member drive motor 82.

[0031] In this embodiment, the weight member 81 is a battery unit. In other embodiments, the weight member 81 may be other components having weight and capable of changing the position of the center of gravity of the turtle-shaped robot 100, and is not limited to this embodiment. As shown in FIG. 5, a pair of slide grooves 118 are formed in the waterproof casing 11. The weight member 81 has a pair of slide ribs 811 slidably engaged with the slide grooves 118 respectively, so that the weight member 81 can slide back and forth with respect to the waterproof casing 11, and the position of the center of gravity of the turtle-shaped robot 100 can be changed. In this way, by the cooperation of the weight module 8 with the movements of the two front limb modules 6 and the two hind limb modules 7, the turtle-shaped robot 100 is controlled to rise or fall in water.

[0032] The weight member drive motor 82 is rotatable about an upright axis orthogonal to the front-rear direction and the lateral direction, and includes a weight drive shaft 821 that is co-rotatably connected to a crank connection mechanism 83 to drive the movement of the weight member 81. The crank connection mechanism 83 includes a first rod 831 connected to the weight drive shaft 821 and a second rod 832 connected between the first rod 831 and the weight member 81. The control unit 3 is configured to control the weight member drive motor 82 to drive the movement of the weight member 81 via the crank connection mechanism 83.

[0033] The head module 9 extends through the head connection hole 114 and is connected to the weight member 81. The head module 9 includes a connection rod 91 that extends through the head connection hole 114 and is connected to the weight member 81, a head casing 92 that includes a connection bracket 921 and opens rearward in the front-rear direction, and a dual-shaft motor 93 that is connected between the connection rod 91 and the head casing 92 and drives the head casing 92 to rotate with respect to the connection rod 91. In the present embodiment, the connection rod 91 is hollow, and an electric wire (not shown) can pass through it.

[0034] As shown in FIGS. 5 and 6, the dual-shaft motor 93 includes a first rotating shaft 931 that extends in the lateral direction and is connected to the connection rod 91, and a second rotating shaft 932 that extends in a direction parallel to the upright axis and is connected to the connection bracket 921 of the head casing 92. Due to the structures of the first rotating shaft 931 and the second rotating shaft 932, the head casing 92 can swing vertically and horizontally with respect to the connection rod 91. Further, since the connection rod 91 is connected to the weight member 81 that is slidable with respect to the waterproof casing 11, the head casing 92 can move forward and backward in common with the weight member 81 and can expand and contract with respect to the waterproof casing 11.

[0035] The waterproof cover 14 is attached between the head module 9 and the waterproof casing 11, and cooperates with the head casing 92 to define a head space 94 that houses the dual-shaft motor 93 therein. The waterproof cover 14 can prevent seawater or fresh water from entering the head space 94 or entering the waterproof space 111 through the head connection hole 114. Furthermore, the waterproof cover 14 is made of a flexible deformable waterproof material such as silicone or rubber. The waterproof cover 14 has a stretchable folding portion 141, so that when the weight member 81 moves relative to the waterproof casing 11, the connection rod 91 can be accommodated, and the swinging of the head casing 92 can be facilitated.

[0036] Also, as shown in FIG. 6, two anti-loosening structures AL are respectively arranged between the waterproof cover 14 and the head module 9, and between the waterproof cover 14 and the waterproof casing 11. One of the anti-loosening structures AL arranged between the waterproof cover 14 and the head module 9 has a concave-convex fitting structure, and the other anti-loosening structure AL arranged between the waterproof cover 14 and the waterproof casing 11 has an interference fit structure including a convex portion (not shown) that extends from the waterproof casing 11 to the waterproof cover 14 and engages with the waterproof cover 14. Furthermore, the anti-loosening ring 15 is put on the waterproof cover 14 and clamped between the waterproof casing 11 and the waterproof cover 14 to prevent the waterproof cover 14 from falling off. In other embodiments, other anti-loosening rings may be arranged between the waterproof cover 14 and the head module 9.

[0037] As shown in FIG. 5, the turtle-shaped robot 100 further includes a plurality of infrared sensors IS that are arranged in the main accommodation chamber 111a of the waterproof space 111 and the head space 94 and are electrically connected to the control unit 3. Each infrared sensor IS outputs a plurality of distance signals indicating the distance between each one infrared sensor IS and the detected object to the control unit 3 respectively. When at least one distance signal satisfies a specific criterion (for example, the distance between each one infrared sensor IS and the detected object is smaller than a predetermined value), the control unit 3 controls the front limb drive motor 4 and the hind limb drive motor 5 so that the turtle-shaped robot 100 moves away from the object, preventing the turtle-shaped robot 100 from colliding with surrounding obstacles (i.e., the object). Note that the control unit 3 may include, but is not limited to, a single-core processor, a multi-core processor, a dual-core mobile processor, a microprocessor, a microcontroller, a digital signal processor (DSP), a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a radio frequency integrated circuit (RFIC), etc.

[0038] In summary, in the present invention, since the two front limb drive motors 4, the two hind limb drive motors 5, and the control unit 3 are all arranged in the waterproof space 111 of the waterproof casing 11, there is no need to adopt waterproof motors, and at the same time, the overall mechanism design of the turtle-shaped robot 100 can be simplified. Further, since each of the two front limb modules 6 and the two hind limb modules 7 is driven by only one motor, the two front limb modules 6 are removably connected to the two front limb connectors 12 respectively, and the two hind limb modules 7 are removably connected to the two hind limb connectors 13 respectively, the two front limb modules 6 and the two hind limb modules 7 can be easily and quickly exchanged, facilitating the change of the appearance of the turtle-shaped robot 100 and its maintenance.

[0039] In the above description, for the purpose of explanation, numerous specific details have been set forth to provide a complete understanding of the embodiments. However, it will be apparent to those skilled in the art that one or more other embodiments may be practiced without these specific details. Also, in the description indicating "one embodiment" or "an embodiment" in this specification, it should be understood that all descriptions accompanied by indications such as ordinal numbers may be included in specific implementations of the present invention having specific aspects, structures, and features. Furthermore, in this specification, although multiple variations are sometimes incorporated into one embodiment, drawing, or their descriptions, this is for rationalizing this specification and is aimed at understanding the multifaceted nature of the present invention. Also, one or more features or specific examples in one embodiment may, where appropriate, be implemented together with one or more features or specific examples in other embodiments in the practice of the present invention.

[0040] As described above, embodiments and variations of the present invention have been explained. However, the present invention is not limited to these, and shall include all modifications and equivalent configurations as various configurations included within the spirit and scope of the broadest interpretation.

Explanation of Reference Numerals

[0041] 100 Turtle-shaped Robot 1 Waterproof Housing Unit 11 Waterproof Casing 11a Lower Casing 11b Upper Casing 111 Waterproof Space 111a Main Accommodation Chamber 111b Front Motor Accommodation Chamber 111c Rear Motor Accommodation Chamber 112 Forelimb Connection Hole 113 Hindlimb Connection Hole 114 Head Connection Hole 115 Main Casing Portion 116 Forelimb Motor Casing Portion 117 Hindlimb Motor Casing Portion 118 Slide Groove 12 Front limb connector 13 Rear limb connector 14 Waterproof cover 141 Folding part 15 Anti-loosening ring 2 Decorative cover 21 Upper half part 22 Lower half part 3 Control unit 31 Control circuit board 4 Front limb drive motor 41 Front part motor body 42 Front limb drive shaft 5 Rear limb drive motor 51 Rear part motor body 52 Rear limb drive shaft 6 Front limb module 61 L-shaped link rod 611 First segment 612 Second segment 62 Front limb 621 Front limb frame 622 Deformable front fin 63 Angle limiting mechanism 631 Arc-shaped slide groove 632 Slide convex part 7 Rear limb module 71 Rear limb link rod 72 Deformable rear fin 8 Weight module 81 Weight member 811 Slide rib 82 Weight member drive motor 821 Weight drive shaft 83 Crank connection mechanism 831 First rod 832 Second rod 9 Head module 91 Connection rod 92 Head casing 921 Connection bracket 93 Dual shaft motor 931 First rotating shaft 932 Second Rotating Shaft 94 Head Space AF1 First Front Rotation Axis AF2 Second Front Rotation Axis AR Rear Rotation Axis AL Anti-loosening Structure R Waterproof Seal Ring S Bolt G Washer IS Infrared Sensor

Claims

1. A turtle-shaped robot, comprising a waterproof housing unit, two front limb drive motors, two rear limb drive motors, two front limb modules, two rear limb modules, and a control unit, wherein the waterproof housing unit includes a waterproof casing that defines a waterproof space therein and has two front limb connection holes in fluid communication with the waterproof space and two rear limb connection holes in fluid communication with the waterproof space, two front limb connectors respectively connected to the front limb connection holes, and two rear limb connectors respectively connected to the rear limb connection holes, the front limb drive motors are disposed in the waterproof space, and each of the front limb drive motors includes a front limb drive shaft connected to one of the front limb connectors, the rear limb drive motors are disposed in the waterproof space, and each of the rear limb drive motors includes a rear limb drive shaft connected to one of the rear limb connectors, the front limb modules are removably connected to the front limb connectors respectively and are driven by the front limb drive motors via the front limb connectors respectively, the rear limb modules are removably connected to the rear limb connectors respectively and are driven by the rear limb drive motors via the rear limb connectors respectively, the control unit is attached to the waterproof space of the waterproof casing and is configured to control the front limb drive motors and the rear limb drive motors. Turtle-shaped robot.

2. Each of the front limb drive motors further includes a front motor body, each of the rear limb drive motors further includes a rear motor body, the waterproof space has two front motor accommodation chambers respectively accommodating the front motor bodies of the front limb drive motors, and two rear motor accommodation chambers respectively accommodating the rear motor bodies of the rear limb drive motors, the waterproof casing includes a main casing portion, two front limb motor casing portions in which the front limb connection holes are respectively formed and which cooperate with the main casing portion to define the front motor accommodation chambers, and two rear limb motor casing portions in which the rear limb connection holes are respectively formed and which cooperate with the main casing portion to define the rear motor accommodation chambers, The turtle-shaped robot according to Claim 1.

3. The turtle-shaped robot further includes a weight module disposed in the waterproof space, wherein the weight module A weight member slidable relative to the waterproof casing along a longitudinal axis extending in the front-rear direction, A weight member drive motor attached to the waterproof casing, A crank connection mechanism connecting between the weight member and the weight member drive motor, and The control unit is configured to control the weight member drive motor and drive the movement of the weight member via the crank connection mechanism. The turtle-shaped robot according to claim 1.

4. The weight member is a battery unit, the turtle-shaped robot according to claim 3.

5. The weight member drive motor is rotatable about an upright axis orthogonal to the front-rear direction and includes a weight drive shaft co-rotatably connected to the crank connection mechanism to drive the movement of the weight member, the turtle-shaped robot according to claim 3.

6. The waterproof casing further has a head connection hole in fluid communication with the waterproof space, The turtle-shaped robot further includes a head module extending through the head connection hole and connected to the weight member, The waterproof housing unit further includes a waterproof cover attached between the head module and the waterproof casing. The turtle-shaped robot according to claim 3.

7. The head module includes A connecting rod extending through the head connection hole and connected to the weight member, A head casing opening rearward in the front-rear direction, and A dual-shaft motor connected between the connecting rod and the head casing and driving the head casing to rotate relative to the connecting rod. The waterproof cover cooperates with the head casing to define a head space for accommodating the dual-shaft motor therein. The turtle-shaped robot according to claim 6.

8. Each of the front limb connectors is rotatable about a first front rotation axis extending in the front-rear direction, Each of the front limb modules includes an L-shaped link rod having a first segment and a second segment, and a front limb, For each of the front limb modules, The first segment of the L-shaped link rod is attached to the front portion of one of the respective front limb connectors and extends in a direction away from the first segment of the L-shaped link rod of the other one of the front limb modules. The second segment of the L-shaped link rod extends forward from the distal end of the first segment in the front-rear direction, The front limb is attached to the front portion of the second segment, covers the front portion of the second segment, extends in a direction away from the front limb of the other one of the front limb modules, and rotates about a second front rotation axis orthogonal to the first front rotation axis. The turtle-shaped robot according to claim 1.

9. Each of the front limb modules is attached between the L-shaped link rod and the front limb, and further includes an angle limiting mechanism for limiting the rotation angle of the front limb with respect to the second segment of the L-shaped link rod. The angle limiting mechanism of each of the front limb modules An arc-shaped slide groove formed in one of the L-shaped link rod and the front limb, And a slide convex portion formed in the other one of the L-shaped link rod and the front limb and slidably engaged with the arc-shaped slide groove. The turtle-shaped robot according to claim 8.

10. Each of the front limbs of the front limb modules includes a front limb frame and a deformable front fin foot. Regarding each of the front limbs of the front limb modules The front limb frame is attached to the front portion of the second segment of the L-shaped link rod. The deformable front fin foot surrounds and covers the front limb frame and extends rearward as it moves away from the deformable front fin foot of the other one of the front limb modules. The turtle-shaped robot according to claim 8.

11. Each of the hind limb connectors is rotatable about a rear rotation axis extending in the lateral direction. Each of the hind limb modules A hind limb link rod extending in a direction parallel to the lateral direction and attached to the rear portion of one of the respective hind limb connectors. And a deformable rear fin foot attached to the rear portion of the hind limb link rod and covering the rear portion of the hind limb link rod and extending rearward in the front-rear direction. The turtle-shaped robot according to claim 1.

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