Water Activities

Abstract

To provide an underwater activity device with a simple structure.SOLUTION: An underwater activity device includes: a housing unit; a control unit 2 installed inside the housing unit; and a propulsion unit 3 connected to the housing unit as well as being electrically connected to the control unit 2 for outputting propulsion force underwater. The housing unit includes a base formed integrally and a lid connected fluid-tight to the base. The control unit 2 includes a circuit module 21 and a center-of-gravity movement module 22 electrically connected to the circuit module 21. The center-of-gravity movement module 22 includes a weight 221 capable of moving front to back along a front to back direction D1 as well as having a constant weight and a center-of-gravity drive mechanism 222 for driving the weight 221 for front-to-back movement. The center-of-gravity drive mechanism 222 drives and moves the weight 221 to move the center-of-gravity position, thereby controlling the underwater movement direction upward or downward.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to an underwater activity device, and more particularly to an underwater activity device having a simple structure. [Background technology]

[0002] General underwater activity devices, such as robotic turtles, can be used in scientific research, education and entertainment fields.

[0003] A turtle robot, such as the turtle robot described in Patent Document 1, mainly imitates the appearance and swimming movements of a turtle in water, so that it has a pair of active forelimbs and a pair of active hind limbs and can be controlled to swim upwards and downwards.

[0004] In order to make the movements of the front and back legs more similar to those of a real turtle, the drive mechanisms for driving the front and back legs are often constructed using components such as motors, gears, belt pulleys, belts, and links.

[0005] However, the conventional turtle robots have a complex structure and a large volume because of the large number of parts used in the drive mechanism. Furthermore, when using a waterproof motor, the manufacturing cost is high. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] China Patent Application Publication No. 107140163 Summary of the Invention [Problem to be solved by the invention]

[0007] Conventional underwater activity devices have room for improvement in terms of controlling upward and downward movement with a simpler structural design, and in the case of a turtle-shaped robot, there is also room for improvement in terms of how to make the movement of the robot resemble that of a real turtle while saving manufacturing costs.

[0008] SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to provide an underwater activity device having a simple overall structure. [Means for solving the problem]

[0009] In order to achieve the above object, the present invention provides a marine vessel comprising: a housing unit; a control unit installed in the housing unit; and a propulsion unit connected to the housing unit and electrically connected to the control unit, for outputting propulsive force underwater, The housing unit includes a base that is integrally formed with the housing unit and a lid that is liquid-tightly connected to the base. The control unit includes a circuit module and a center of gravity moving module electrically connected to the circuit module; The center of gravity moving module includes a weight having a certain weight and capable of moving back and forth along a front-rear direction, and a center of gravity driving mechanism for driving the weight to move back and forth, The present invention provides an underwater activity device, characterized in that the direction of movement in water can be controlled to be upward or downward by driving the weight with the center of gravity drive mechanism to move the weight and change the position of the center of gravity. Effect of the Invention

[0010] The underwater activity device of the present invention has a simpler overall structural design, and the components can be assembled easily and quickly thanks to the integrally constructed base. In addition, the center of gravity moving module with a simple overall structure can change the center of gravity of the underwater activity device, thereby achieving control of the movement direction of the underwater activity device to be upward or downward. [Brief description of the drawings]

[0011] [Figure 1] 1 is a perspective view showing a first embodiment of an underwater activity device of the present invention. [Diagram 2] FIG. 2 is an exploded view showing the first embodiment. [Diagram 3]FIG. 2 is an exploded view of parts showing the first embodiment. [Figure 4] FIG. 2 is an exploded view of parts showing the first embodiment. [Diagram 5] FIG. 2 is a perspective view showing the center-of-gravity moving module of the first embodiment. [Figure 6] FIG. 2 is a perspective view showing a forelimb mechanism according to the first embodiment. [Figure 7] FIG. 7 is a partial cross-sectional view taken along line VII-VII in FIG. [Figure 8] FIG. 2 is an exploded view of parts showing the forelimb mechanism of the first embodiment. [Figure 9] FIG. 2 is an exploded view of parts showing the forelimb mechanism of the first embodiment. [Figure 10] FIG. 11 is a perspective view showing a front leg mechanism in a second embodiment of the underwater activity device of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] In order to more clearly describe the objectives, technical means and advantages of the embodiments of the present invention, the following will clearly and completely describe the technical means in the embodiments of the present invention in combination with the accompanying drawings of the embodiments of the present invention. It is clear that the described embodiments are only some embodiments of the present invention, and not all embodiments. Generally, the components of the embodiments of the present invention depicted and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present invention provided below in the accompanying drawings does not constitute any limitation on the protection scope of the present invention, but only represents selected embodiments of the present invention.

[0013] Before describing the present invention in more detail, it should be noted that, where considered appropriate, reference numerals or terminal portions of reference numerals have been repeated among the figures to indicate corresponding or analogous elements, which may optionally have similar characteristics.

[0014] In describing the present invention, terms indicating orientations and positional relationships, such as "upper," "lower," "inner," "outer," "left," "right," "front," and "rear," are based on the orientations and positional relationships shown in the drawings or the orientations and positional relationships customarily assumed when using the product of the present invention, for the purpose of easier and clearer description, and are not intended to teach or suggest that the corresponding apparatus or device has a specific orientation, a structure or operation in a specific orientation, etc., and are not intended to be limitations on the present invention.

[0015] Moreover, in describing the present invention, the terms "first", "second", etc. are used for distinguishing purposes only and do not teach or imply any relative importance.

[0016] The present invention provides a novel underwater activity device, and features of each embodiment of the present invention may be combined unless inconsistent.

[0017] 1 to 3, the underwater activity device of the present invention includes a housing unit 1, a control unit 2 installed 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 turtle-type robot.

[0018] 1 to 3, the housing unit 1 includes an integrally constructed base 11, a lid 12 liquid-tightly connected to the base 11, a head 13 having a shape of a turtle's head, and a shell portion 14 having a shape of a turtle's shell. The head 13 and the shell portion 14 are intended to imitate the appearance of a turtle.

[0019] 3 and 4, the base 11 is formed to define an accommodation space having an opening at the top and in which the control unit 2 is installed. The lid 12 covers the opening of the base 11 in a liquid-tight manner.

[0020] As shown in Figures 1, 3 and 4, the base 11 includes a front base body 15, a rear base body 16 connected to the rear central portion of the front base body 15, two front mounting frames 17 connected to the front base body 15 so as to define a space, and two rear mounting frames 18 connected to the rear base body 16 so as to define a space.

[0021] The front base body 15 includes a rectangular front bottom wall 151, two front side walls 152 extending upward from both the left and right sides of the front bottom wall 151, a leading wall 153 extending upward from the front side of the front bottom wall 151 so as to be connected to the front sides of the two front side walls 152, and two intermediate walls 154 extending upward from the rear side of the front bottom wall 151 so as to be connected to the rear sides of the two front side walls 152 and be spaced apart from each other, and is formed to define a front storage space 155.

[0022] That is, the front bottom wall 151 , the front side walls 152 , the leading wall 153 and the intermediate walls 154 together define a front storage space 155 .

[0023] In this embodiment, the front storage space 155 has an opening at the top.

[0024] The rear base body 16 includes a rectangular rear bottom wall 161 extending from between the two intermediate walls 154 on the rear side of the front bottom wall 151, two rear side walls 162 extending upward from both the left and right sides of the rear bottom wall 161 so as to be connected to the two intermediate walls 154, and a rear tail wall 163 extending upward from the rear side of the rear bottom wall 161 so as to be connected to the rear sides of the two rear side walls 162, and is formed to define a rear storage space 164 that communicates with the front storage space 155.

[0025] That is, the rear bottom wall 161 , the rear side walls 162 and the rear tail wall 163 together define a rear storage space 164 .

[0026] In this embodiment, the rear accommodating space 164 has an opening at the top, and the accommodating space of the base 11 is a space consisting of the front accommodating space 155 and the rear accommodating space 164. The control unit 2 is installed in the front accommodating space 155 and the rear accommodating space 164 of the base 11.

[0027] Each front mounting frame 17 is integrally connected to the leading wall 153 of the front base body 15 with a gap therebetween on the left and right.

[0028] The front base body 15 also includes two front line passing holes 156 whose positions correspond to each of the two front mounting frames 17 and penetrate the leading wall 153 so as to connect the space of the front mounting frame 17 with the front storage space 155.

[0029] Each rear mounting frame 18 is integrally connected to a respective one of the two rear side walls 162 .

[0030] The rear base body 16 also includes two rear wire passing holes 165 that correspond to each of the two rear mounting frames 18 and penetrate each of the two rear side walls 162 so as to connect the space of the rear mounting frame 18 to the rear storage space 164.

[0031] 3, an elastic sealing ring 19 is installed on the top edge of the opening of the front receiving space 155 and the rear receiving space 164 of the base 11, and the shape of the periphery of the cover 12 is matched with that of the base 11. The cover 12 can be screwed and fixed to the base 11 by a number of screws, and is liquid-tightly connected by the elastic sealing ring 19 to prevent liquid from passing through the connecting portion between the cover 12 and the base 11.

[0032] As shown in FIGS. 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.

[0033] In this embodiment, as shown in Figures 1 to 4, the circuit module 21 includes two circuit boards 211 installed in the front accommodating space 155 and electrically connected to each other, a limit switch 212 installed on one of the circuit boards 211, a power switch 213 installed on one of the two front side walls 152 of the base 11 and electrically connected to each circuit board 211, and a charging port 214 installed on the front bottom wall 151 of the base 11 and electrically connected to each circuit board 211.

[0034] As shown in FIG. 5, the center of gravity moving module 22 includes a weight 221 having a certain weight and capable of moving back and forth along the fore-and-aft direction D1, a center of gravity driving mechanism 222 that drives the weight 221 to move back and forth, and two rails 223 installed on the front base body 15 of the base 11 to guide the fore-and-aft movement of the weight 221.

[0035] In this embodiment, the weight 221 is a battery module that is located in the front receiving space 155 and functions as a power source.

[0036] Specifically, the weight 221 includes a box body 221a, a plurality of batteries 221b installed within the box body 221a, a connection portion 221c installed at the middle position of the top surface of the box body 221a so as to extend along the front-to-rear direction D1, and a sensor 221d extending perpendicularly upward from the connection portion 221c and corresponding to the limit switch 212.

[0037] The box body 221a includes two slide recesses 221e formed on both the left and right side surfaces.

[0038] Each slide tray 221e can be guided in conjunction with the rail 223 so that the box body 221a can move along the front-rear direction D1 while being supported by the rail 223.

[0039] As shown in FIG. 5, the center-of-gravity drive mechanism 222 includes a center-of-gravity drive motor 222a located in the rear storage space 164 and electrically connected to each circuit board 21, and a crank-containing link mechanism 222b connecting the center-of-gravity drive motor 222a and the weight 221.

[0040] The crank-including link mechanism 222b is connected to an end portion on the rear side of the connection portion 221c, and is driven by the center-of-gravity drive motor 222a to move the weight 221 back and forth.

[0041] The center-of-gravity drive motor 222a is controlled by the circuit module 21. The circuit module 21 can detect the position of the weight 221 by the limit switch 212 and control the center-of-gravity drive motor 222a to control the stroke of the movement of the weight 221.

[0042] The weight 221 can be moved forward or backward by rotating the center-of-gravity drive motor 222 clockwise or counterclockwise, and the moving speed of the weight 221 can be controlled by controlling the rotation speed of the center-of-gravity drive motor 222a. Furthermore, the weight 221 can be stopped at any position during the stroke by controlling the rotation angle of the center-of-gravity drive motor 222a.

[0043] By driving the weight 221 with the center of gravity drive motor 222a to move the weight 221 and change the position of the center of gravity of the underwater activity device, it is possible to control the direction of movement of the underwater activity device to be upward or downward.

[0044] For example, when the weight 221 is moved toward the front, the center of gravity of the underwater activity device shifts to the front, and the head 13 of the underwater activity device tilts downward, allowing it to move downward in the water.

[0045] Similarly, when the weight 221 is moved rearward, the center of gravity of the underwater activity device shifts rearward, causing the head 13 of the underwater activity device to tilt upward, allowing it to move upward in the water.

[0046] The overall structure of the center of gravity moving module 22 is simple, and by simply moving the weight 221 back and forth with the center of gravity drive mechanism 222, it is possible to change the position of the center of gravity of the underwater activity device and control the movement direction of the underwater activity device to be upward or downward.

[0047] Furthermore, since the circuit module 21 and the center-of-gravity moving module 22 are both installed in the storage space of the base 11 and define a liquid-tight storage space together with the base 11 and the cover 12, the structural design can be simplified.

[0048] In this embodiment, the weight 221 functions as a battery module, and the weight of the battery 221b is utilized to obtain the effect of changing the position of the center of gravity, and also serves the function of providing power, thereby eliminating the need for a separate space for a weight.

[0049] It should be noted that the weight 221 is not limited to a battery module, and other components may be used in modified embodiments.

[0050] As shown in FIG. 3, the propulsion unit 3 is for outputting propulsive force in water and includes two front leg mechanisms 31 connected to the front base body 15 and two rear leg mechanisms 32 connected to the rear base body 16.

[0051] As shown in Figures 4, and 6 to 8, each forelimb mechanism 31 includes a forelimb motor 311 installed in the space of the corresponding front mounting frame 17, a front waterproof cover 312 connected to the front mounting frame 17 so as to cover the forelimb motor 311 liquid-tightly, a forelimb rotation shaft 313 which can rotate around the front waterproof cover 312 as a rotation shaft and which is inserted through the front waterproof cover 312 so as to protrude from the front waterproof cover 312 and is connected to the forelimb motor 311 so as to be rotationally driven by the forelimb motor 311, a connecting member 314 which connects the forelimb motor 311 and the forelimb rotation shaft 313, and a forelimb body module 315 which is connected to the forelimb rotation shaft 313 so as to interlock with the forelimb rotation shaft 313.

[0052] The front leg motor 311 is electrically connected to the control unit 2 by a conductor (not shown) passing through the corresponding front line passage hole 156, and is intended to drive the front leg rotation shaft 313 to rotate the front leg rotation shaft 313.

[0053] A lid seal ring 312a is installed in the part of the front waterproof lid 312 connected to the front mounting frame 17, thereby preventing liquid from passing through the part where the front waterproof lid 312 and the front mounting frame 17 are connected, thereby achieving the effect of a liquid-tight connection.

[0054] As shown in FIG. 6, the front leg rotation shaft 313 has an axis which is the first axis A1 and is liquid-tightly inserted through the front waterproof cover 312, thereby keeping the space of the front mounting frame 17 in which the front leg motor 311 is installed liquid-tight.

[0055] In this embodiment, as shown in FIG. 7, two shaft seal rings 313a are installed between the front leg rotation shaft 313 and the front waterproof cover 312, and the two shaft seal rings 313a are arranged at intervals along the axial direction of the front leg rotation shaft 313, thereby reliably preventing liquid from passing through the gap between the front waterproof cover 312 and the front leg rotation shaft 313.

[0056] As shown in Figures 6, 8-9, each forelimb module 315 includes an L-shaped link 316 and a forefoot member 317 rotatably connected to the L-shaped link 316.

[0057] The L-shaped link 316 includes a forelimb fixing portion 316a connected to the forelimb rotation shaft 313 so as to be fixed to the corresponding forelimb rotation shaft 313, and a first pivot portion 316b connected perpendicularly to the forelimb fixing portion 316a.

[0058] In this embodiment, the front leg fixing portion 316a is in the shape of a substantially C-shape, and the front leg fixing portion 316a is firmly fixed to the front leg rotation axis 313 by tightening and closing the C-shaped opening using the bolt 316c and nut 316d.

[0059] The forefoot-shaped member 317 includes a second pivot portion 317a pivoted to the first pivot portion 316b, a support portion 317b integrally connected to the second pivot portion 317a and extending along a second axis A2 perpendicular to the first axis A1, and a forelimb plate portion 317c interlocking with the second pivot portion 317a.

[0060] In this embodiment, the front leg plate portion 317c is made of a soft material, is connected to the support portion 317b, and interlocks with the second pivot portion 317a via the support portion 317b.

[0061] The connection point between front leg plate 317c and support 317b is off center of gravity of front leg plate 317c and is located to one side of the center of gravity of front leg plate 317c. Specifically, as shown in Fig. 8, support 317b is connected to the inside of front leg plate 317c near second pivot 317a.

[0062] In an alternative embodiment, the front leg plate 317c can be made of a stiff material and can be adjusted as needed.

[0063] In this embodiment, the front leg plate 317c and the support 317b are fixed by screwing together with a plurality of screws. In a variation of the embodiment, the front leg plate 317c and the support 317b can be fixed by engaging with each other by a convex-concave structure, or a primer is used to bond different materials. The support 317b is made of a material such as metal, plastic, ceramics, or glass. The front leg plate 317c is made of a polymer elastic material such as silicone, synthetic rubber, or the like.

[0064] The axis of the forelimb rotation shaft 313 is set as a first axis A1, and the second pivot portion 317a is configured to be able to rotate about a second axis A2 that is perpendicular to the first axis A1.

[0065] The front leg fixing part 316a rotates about the first axis A1 in conjunction with the front leg rotating shaft 313, causing the front leg plate part 317c to swing up and down in the vertical direction D2.

[0066] While the front leg plate portion 317c is rocking up and down in water, the second pivot portion 317a is rotated about the second axis A2 by the thrust force generated by the water pressure.

[0067] Since the connection point between front leg plate portion 317c and support portion 317b is located toward one side of the center of gravity of front leg plate portion 317c, the lever principle allows forelimb plate portion 317c to more effectively rotate about second axis A2.

[0068] In this embodiment, as shown in FIG. 9, the second pivot portion 317a has an arc-shaped groove 318 formed on its surface facing the first pivot portion 316b, and the first pivot portion 316b has a protruding pillar 319 formed on its surface facing the second pivot portion 317 that can enter the arc-shaped groove 318 and move along the arc-shaped groove 318.

[0069] The combination of the arc-shaped groove 318 and the protruding post 319 limits the range of rotation of the second pivot portion 317a relative to the first pivot portion 316b about the second axis A2.

[0070] As an example of a variation of the embodiment, the same function can be achieved by forming an arc-shaped groove 318 on the surface of the first pivot portion 316b facing the second pivot portion 317, and forming a protruding pillar 319 on the surface of the second pivot portion 317a facing the first pivot portion 316b, which can enter the arc-shaped groove 318 and move along the arc-shaped groove 318.

[0071] Thereby, the forelimb mechanism 31 can produce the effect of rotating about two axes (the first axis A1 and the second axis A2) by using only one motor.

[0072] As shown in Figures 3 and 4, each hind leg mechanism 32 includes a hind leg motor 321 installed in the space of the corresponding rear mounting frame 18, a rear waterproof lid 322 connected to the rear mounting frame 18 so as to cover the hind leg motor 321 liquid-tightly, a hind leg rotation shaft 323 which is rotatable about itself as a rotation axis and which is inserted into the rear waterproof lid 322 so as to protrude from the rear waterproof lid 322 and is connected to the hind leg motor 321 so as to be rotationally driven by the hind leg motor 321, and a hind leg body module 324 connected to the hind leg rotation shaft 323 so as to interlock with the hind leg rotation shaft 323.

[0073] The hind leg motor 321 is electrically connected to the control unit 2 by a conductor (not shown) passing through the corresponding hind leg passing hole 165, and serves to drive the hind leg rotating shaft 323 to rotate the hind leg rotating shaft 323.

[0074] The hind leg rotation shaft 323 is liquid-tightly inserted through the rear waterproof cover 322, thereby keeping the space of the rear mounting frame 18 in which the hind leg motor 321 is installed liquid-tight.

[0075] In this embodiment, the method for liquid-tightly connecting the rear waterproof lid 322 and the rear mounting frame 18 is the same as the method for liquid-tightly connecting the front waterproof lid 312 and the front mounting frame 17. Moreover, the method for liquid-tightly connecting the rear leg rotation shaft 323 and the rear waterproof lid 322 is the same as the method for liquid-tightly connecting the front leg rotation shaft 313 and the front waterproof lid 312.

[0076] Each hind leg body module 324 includes a hind leg fixing portion 324a connected to the hind leg rotating shaft 323 so as to be fixed to the corresponding hind leg rotating shaft 323, and a hind leg plate portion 324b extending from the hind leg fixing portion 324a.

[0077] The hind leg fixing part 324a rotates about the hind leg rotating shaft 323 in conjunction with the hind leg rotating shaft 323, causing the hind leg plate part 324b to swing up and down in the vertical direction D2.

[0078] In this embodiment, the method of fixing the hind leg fixing part 324a to the hind leg rotation shaft 323 is the same as the method of fixing the front leg fixing part 316a to the front leg rotation shaft 313.

[0079] The front leg motor 311 of each front leg mechanism 31 and the rear leg motor 321 of each rear leg mechanism 32 can both be held in a liquid-tight space to achieve a waterproof effect, eliminating the need to use expensive waterproof motors and saving on component costs.

[0080] In addition, each front leg motor 311 and each rear leg motor 321 is installed within each front mounting frame 17 and each rear mounting frame 18, respectively, and is electrically connected to the control unit 2 by a conductor (not shown) passing through the corresponding front line passing hole 156 or rear line passing hole 165, thereby simplifying the structural design.

[0081] The second embodiment of the underwater activity device of the present invention is similar to the first embodiment, so a description of the same configuration as the first embodiment will be omitted here, and only the differences from the first embodiment will be described.

[0082] In the second embodiment, as shown in FIG. 10, a front leg plate portion 317c is formed with a swinging shaft portion 317d that extends parallel to the first axis A1.

[0083] The swinging shaft portion 317d is located near the end of the support portion 317b remote from the second pivot portion 317a, and separates the swinging portion 317e remote from the second pivot portion 317a from the front leg plate portion 317c.

[0084] In this embodiment, as shown in FIG. 10, the swing axis portion 317d is located at the entire edge remote from the second pivot portion 317a.

[0085] In water, the swinging portion 317e can swing around the swinging shaft portion 317d.

[0086] As in the first embodiment, when the front leg plate portion 317c rocks up and down in the vertical direction D2 in water, the second pivot portion 317a is rotated about the second axis A2 by the thrust generated by the water pressure.

[0087] In the second embodiment, the thrust force generated when the front leg plate portion 317c receives water pressure can simultaneously cause the swinging portion 317e to swing about the swinging shaft portion 317d.

[0088] According to the above-mentioned configuration, the underwater activity device of the present invention has a simpler overall structural design, and the parts can be assembled easily and quickly by the integrally formed base 11. In addition, the center of gravity moving module 22, which has a simple overall structure, can change the center of gravity of the underwater activity device, thereby achieving control of the movement direction of the underwater activity device to be upward or downward.

[0089] The front leg motor 311 of each front leg mechanism 31 and the rear leg motor 321 of each rear leg mechanism 32 can both be held in a liquid-tight space to achieve a waterproof effect, eliminating the need to use expensive waterproof motors and saving on component costs.

[0090] While the invention has been described in connection with what are considered to be exemplary embodiments, it is understood that the invention is not limited to the disclosed embodiments, but is intended to cover various arrangements within the broadest spirit and scope so as to encompass all such modifications and equivalent arrangements.

[0091] The above embodiment is illustratively intended to explain the principles and effects of the present invention, and is not intended to limit the present invention. Those skilled in the art may make some changes or modifications to the above embodiment without departing from the spirit and scope of the present invention. Therefore, all changes and modifications made by those skilled in the art without departing from the gist of the present invention should be considered to be within the scope of protection of the present invention. [Industrial Applicability]

[0092] The underwater activity device of the present invention is suitable for providing an underwater activity device having a simpler overall structural design. [Explanation of symbols]

[0093] 1 Housing Unit 11. Base 12 Lid 13 Head 14 Shell 15 Front base body 151 Front bottom wall 152 Front side wall 153 Head Wall 154 Intermediate Wall 155 Front Storage Space 156 Front line passage hole 16 Rear base body 161 Rear bottom wall 162 Rear wall 163 Rear wall 164 Rear storage space 165 Rear line passage hole 17 Front mounting frame 18 Rear mounting frame 19 Elastic seal ring 2. Control unit 21 Circuit Module 211 Circuit Board 212 Limit Switch 213 Power Switch 214 Charging port 22 Center of gravity shift module 221 Weight 221a Box body 221b battery 221c Connection 221d Sensor 221e Slight tank 222 Center of gravity drive mechanism 222a Center of gravity drive motor 222b Crank-containing link mechanism 223 Rail 3. Propulsion Unit 31 Forelimb mechanism 311 Forelimb Motor 312 Front waterproof lid 312a Lid seal ring 313 Forelimb Rotation Axis 313a shaft seal ring 314 Connecting parts 315 Forelimb Module 316 L-shaped link 316a Forelimb anchorage 316b First Pivot 316c bolt 316d Nut 317 Front foot member 317a Second Pivot 317b Support part 317c Forelimb plate body part 317d Oscillating shaft part 317e Swinging part 318 Arc-shaped tank 319 Protruding column 32 Hindlimb mechanism 321 Hindlimb Motor 322 rear waterproof lid 323 Hindlimb rotation axis 324 Hindlimb Body Module 324a Hind limb fixation part 324b Hind limb plate A1 First axis A2 Second axis D1 Anteroposterior direction D2 Vertical direction

Claims

1. a housing unit; a control unit installed in the housing unit; and a propulsion unit connected to the housing unit and electrically connected to the control unit, for outputting a propulsive force in water; The housing unit includes a base that is integrally formed with the housing unit and a lid that is liquid-tightly connected to the base. The control unit includes a circuit module and a center of gravity moving module electrically connected to the circuit module; The center of gravity moving module includes a weight having a certain weight that can move back and forth along the front-rear direction, and a center of gravity drive mechanism that drives the weight to move it back and forth, and the center of gravity drive mechanism drives the weight to move the weight and change the center of gravity position, thereby controlling the movement direction in water to be upward or downward, The base includes a front base body and two front mounting frames connected to the front base body to define a space; The front base body is formed to define a front storage space, The propulsion unit includes two front leg mechanisms connected to the front base body, The front base body includes two front wire passage holes formed to communicate with the space of the front mounting frame and the front storage space, respectively corresponding to the two front mounting frames, Each of the forelimb mechanisms comprises: a front leg motor installed in the space of the corresponding front mounting frame; A front waterproof cover connected to the front mounting frame so as to cover the front leg motor liquid-tightly; A front leg rotation shaft that can rotate around itself as a rotation shaft and is provided through the front waterproof lid so as to protrude from the front waterproof lid and is connected to the front leg motor so as to be driven to rotate by the front leg motor; a forelimb body module connected to the forelimb rotation shaft so as to move in conjunction with the forelimb rotation shaft; The front leg motors are electrically connected to the control unit by conductors passing through the corresponding front line passage holes, The front leg rotation shaft is liquid-tightly inserted through the front waterproof cover, thereby keeping the space of the front mounting frame in which the front leg motors are installed liquid-tight.

2. 2. The underwater activity device according to claim 1, wherein the weight includes a box body and a plurality of batteries installed in the box body.

3. The base further includes a rear base body connected to a rear central portion of the front base body, The rear base body is formed to define a rear accommodating space that communicates with the front accommodating space, The weight is located in the front storage space, 2. The underwater activity device according to claim 1, wherein the center-of-gravity drive mechanism includes a center-of-gravity drive motor located in the rear storage space, and a crank-including link mechanism connecting the center-of-gravity drive motor and the weight.

4. The propulsion unit further includes two rear leg mechanisms connected to the rear base body, The base further includes two rear mounting frames connected to the rear base body to define a space; the rear base body includes two rear wire passing holes formed corresponding to the two rear mounting frames, respectively, so as to communicate the space of the rear mounting frame with the rear accommodating space, Each of the hind leg mechanisms comprises: A rear leg motor installed in the space of the corresponding rear mounting frame; A rear waterproof cover connected to the rear mounting frame so as to cover the rear leg motor liquid-tightly; A hind leg rotating shaft that is rotatable about itself as a rotating shaft and that is provided through the hind waterproof lid so as to protrude from the hind waterproof lid and is connected to the hind leg motor so as to be driven to rotate by the hind leg motor; a hind leg body module connected to the hind leg rotation shaft so as to move in conjunction with the hind leg rotation shaft; The rear leg motors are electrically connected to the control unit by conductors passing through the corresponding rear wire passing holes, The underwater activity device according to claim 3, characterized in that the rear leg rotation shaft is liquid-tightly inserted through the rear waterproof cover, thereby keeping the space of the rear mounting frame in which the rear leg motor is installed liquid-tight.

5. The front base body further includes a rectangular front bottom wall, two front side walls extending upward from both the left and right sides of the front bottom wall, a leading wall extending upward from the front side of the front bottom wall so as to be connected to the front sides of the two front side walls, and two intermediate walls extending upward from the rear side of the front bottom wall so as to be connected to the rear sides of the two front side walls and spaced apart from each other, The front bottom wall, the front side walls, the leading wall and the intermediate walls together define the front storage space, The rear base body further includes a rectangular rear bottom wall extending between the two intermediate walls on the rear side of the front bottom wall, two rear side walls extending upward from both left and right sides of the rear bottom wall so as to be connected to the two intermediate walls, and a rear tail wall extending upward from the rear side of the rear bottom wall so as to be connected to the rear sides of the two rear side walls, the rear bottom wall, the rear side walls and the rear tail wall together define the rear storage space, Each of the front mounting frames is integrally connected to the leading wall with a space therebetween on the left and right, Each of the front passage holes penetrates the leading wall, Each of the rear mounting frames is integrally connected to each of the two rear side walls; 5. The underwater activity device according to claim 4, wherein each of said rear line passage holes penetrates each of said two rear side walls.

6. Each of the hind leg body modules includes a hind leg fixing part connected to the hind leg rotation shaft so as to be fixed to the corresponding hind leg rotation shaft, and a hind leg plate part extending from the hind leg fixing part, 6. The underwater activity apparatus according to claim 5, wherein the hind leg fixing portion rotates about the hind leg rotation shaft in conjunction with the hind leg rotation shaft, thereby causing the hind leg plate portion to swing up and down.

7. Each of the forelimb modules includes an L-shaped link and a forefoot member rotatably connected to the L-shaped link; The L-shaped link includes a forelimb fixing portion connected to the forelimb rotation shaft so as to be fixed to the corresponding forelimb rotation shaft, and a first pivot portion connected perpendicularly to the forelimb fixing portion, The forefoot-shaped member includes a second pivot portion pivoted to the first pivot portion, and a forelimb plate portion interlocking with the second pivot portion, The axis of the forelimb rotation axis is a first axis, and the second pivot portion is configured to be able to rotate around a second axis perpendicular to the first axis, The forelimb fixing portion rotates about the first axis in conjunction with the forelimb rotation axis to swing the forelimb plate portion up and down, The underwater activity device according to claim 5, characterized in that the second pivot part is rotated about the second axis by thrust generated by water pressure during up and down rocking of the front leg plate part in water.

8. One of the first pivot portion and the second pivot portion has an arc-shaped groove formed on a surface facing the other, The other of the first pivot part and the second pivot part has a protruding pillar formed on a surface facing the other, the protruding pillar being capable of entering the arc-shaped tank and moving along the arc-shaped tank; 8. The underwater activity device according to claim 7, wherein a rotation range of the second pivot part about the second axis is limited by a combination of the arc-shaped tank and the protruding pillar.

9. the forefoot member further includes a support portion integrally connected to the second pivot portion and extending along the second axis; The front leg plate is made of a soft material, and 9. The underwater activity device according to claim 8, wherein the connection point between the front leg plate and the support is offset from the center of gravity of the front leg plate.

10. The front leg plate portion is formed with a swinging shaft portion extending parallel to the first shaft, The swing shaft portion is located near the end of the support portion remote from the second pivot portion, and separates the swing portion remote from the second pivot portion from the front leg plate portion; 10. The underwater activity device according to claim 9, wherein the swinging portion can swing around the swinging shaft portion as an axis.

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