Turtle 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 biological robot, and more particularly to a turtle robot. [Background technology]

[0002] Generally, conventional turtle robots include front and rear limbs with relatively complex transmission mechanisms to mimic the movement and swimming of a turtle in water. Each of the front and rear limbs includes multiple joints connected to multiple output shafts driven by multiple motors, making it quite difficult to control the movement of conventional turtle robots. Furthermore, when conventional turtle robots use motors, gears, pulleys, belts, link rods, and the like as transmission mechanisms, these components must be waterproof. For example, using waterproof motors, which are much more expensive than regular motors without waterproof capabilities, in conventional turtle robots increases manufacturing costs. Furthermore, because the front and rear limbs have relatively complex structures controlled by multiple motors, maintenance of conventional turtle robots is also difficult. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Chinese Patent Application Publication No. 114834619 Summary of the Invention [Problem to be solved by the invention]

[0004] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a turtle robot that can alleviate at least one of the drawbacks of the prior art. [Means for solving the problem]

[0005] The turtle robot includes a waterproof housing unit, two front leg drive motors, two rear leg drive motors, two front leg modules, two rear leg modules, and a control unit.

[0006] The waterproof housing unit includes a waterproof casing that defines a waterproof space therein and has two front limb connection holes that are fluidly connected to the waterproof space and two rear limb connection holes that are fluidly connected to the waterproof space, two front limb connectors that respectively connect to the front limb connection holes, and two rear limb connectors that respectively connect to the rear limb connection holes.

[0007] The front leg drive motors are disposed in a waterproof space. Each of the front leg drive motors includes a front leg drive shaft that connects to a respective one of the front leg connectors. The rear leg drive motors are disposed in a waterproof space. Each of the rear leg drive motors includes a rear leg drive shaft that connects to a respective one of the hind leg connectors.

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

[0009] The control unit is attached to the waterproof space of the waterproof casing and is configured to control the front leg drive motor and the hind leg drive motor. [Effects of the Invention]

[0010] Because the two front leg drive motors, two rear leg drive motors, and control unit are all located in the waterproof space of the waterproof casing, there is no need to use waterproof motors, and the overall mechanical design of the turtle robot can be simplified. Furthermore, because each of the two front leg modules and two rear leg modules is driven by only one motor, and the two front leg modules are detachably connected to two front leg connectors, respectively, and the two hind leg modules are detachably connected to two hind leg connectors, respectively, the two front leg modules and two hind leg modules can be easily and quickly replaced, making it easier to change the appearance of the turtle robot and to maintain it.

[0011] Other features and advantages of the present invention will become apparent from the following detailed description of the embodiments, which proceeds with reference to the accompanying drawings. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a perspective view showing a turtle-shaped robot according to an embodiment of the present invention; [Figure 2] FIG. 1 is a partially exploded view showing the decorative cover, waterproof casing, front leg module, and rear leg module of the turtle robot. [Figure 3] FIG. 1 is a fragmentary, partially exploded view of the turtle robot with the decorative cover omitted. [Figure 4] FIG. 10 is another fragmentary, partially exploded view showing the structure of the turtle robot with the decorative cover, front leg modules, and rear leg modules omitted. [Figure 5] FIG. 1 is a fragmentary perspective schematic diagram showing the weight module and head module of the turtle robot, with parts cut away. [Figure 6] FIG. 10 is a fragmentary cross-sectional view showing the weight module and head module. DETAILED DESCRIPTION OF THE 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 similar elements that may have similar characteristics.

[0014] Furthermore, directional terms such as "upper," "lower," "left," "right," "front," and "rear" are used herein only to exemplarily describe the relative positions of multiple hardware components in 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] 1 to 4, a turtle robot 100 according to an embodiment of the present invention is configured to be able to move in water. The turtle robot 100 includes a waterproof housing unit 1, a decorative cover 2, a control unit 3, two front leg drive motors 4, two rear leg drive motors 5, two front leg modules 6, two rear leg modules 7, a weight module 8, and a head module 9.

[0016] The waterproof housing unit 1 includes a waterproof casing 11, two front leg connectors 12, two hind leg connectors 13 (only one of which is visible in the illustration), and a waterproof cover 14. The waterproof casing 11 defines a waterproof space 111 therein and has two front leg connection holes 112 fluidly communicating with the waterproof space 111, two hind leg connection holes 113 fluidly communicating with the waterproof space 111 (only one of which is visible in the illustration), and a head connection hole 114 (see FIG. 6 ) fluidly communicating with the waterproof space 111. The two front leg connectors 12 are connected to the two front leg connection holes 112, respectively, and the two hind leg connection connectors 13 are connected to the two hind leg connection holes 113, respectively. In this embodiment, as shown in Figure 4, multiple waterproof sealing rings R are placed over the front limb connector 12 and the hind limb connector 13, so that the front limb connector 12 is sealably connected to the front limb connection hole 112, and the hind limb connector 13 is sealably connected to the hind limb connection hole 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 housing chamber 111a, two front motor housing chambers 111b arranged in front of the main housing chamber 111a, and two rear motor housing chambers 111c (only one of which is visible in the illustration) arranged on either side of the rear of the main housing chamber 111a. The waterproof casing 11 includes a main casing part 115 that defines the main housing chamber 111a therein, two front leg motor casing parts 116 each having a front leg connection hole 112 formed therein, and two rear leg motor casing parts 117 (only one of which is visible in the illustration) each having a hind leg connection hole 113 formed therein. The main casing part 115 cooperates with the front leg motor casing part 116 to define the front motor housing chamber 111b, and cooperates with the hind leg motor casing part 117 to define the rear motor housing chamber 111c.

[0019] The decorative cover 2 surrounds the waterproof housing unit 1 and has an appearance that resembles a turtle. The decorative cover 2 includes an upper half 21 and a lower half 22 that is disposed 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 leg drive motor 4 and the hind leg drive motor 5. In this embodiment, the control unit 3 includes two control circuit boards 31.

[0021] The two forelimb drive motors 4 are disposed in the waterproof space 111 and are electrically connected to and controlled by the control unit 3. Each of the forelimb drive motors 4 includes a front motor body 41 and a front limb drive shaft 42 that is connected to a respective one of the forelimb connectors 12 and drives the respective one of the forelimb connectors 12 to rotate about a first front rotation axis AF1 that extends in the front-to-back direction. The front motor bodies 41 of the forelimb drive motors 4 are each housed in a front motor housing chamber 111b.

[0022] The two hind leg drive motors 5 are disposed in the waterproof space 111 and are electrically connected to and controlled by the control unit 3. Each of the hind leg drive motors 5 includes a rear motor body 51 and a hind leg drive shaft 52 that is connected to a respective one of the hind leg connectors 13 and drives the respective one of the hind leg connectors 13 to rotate about a rear rotation axis AR that extends in the lateral direction perpendicular to the fore-and-aft direction. The rear motor bodies 51 of the hind leg drive motors 5 are each housed in a rear motor housing chamber 111c.

[0023] The two forelimb modules 6 are detachably connected to two forelimb connectors 12 via a plurality of bolts S and washers G, and are driven by two forelimb drive motors 4 via the two forelimb connectors 12. Each of the forelimb modules 6 includes an L-shaped link rod 61 having a first segment 611 and a second segment 612, a forelimb 62, and an angle limiting mechanism 63. For each forelimb module 6, the first segment 611 of the L-shaped link rod 61 is attached to the front of a respective one of the forelimb connectors 12 and extends in a direction away from the first segment 611 of the L-shaped link rod 61 of the other forelimb module 6, and the second segment 612 extends forward from the distal end of the first segment 611 in the anterior-posterior direction. For each forelimb module 6, the forelimb 62 is attached to a front portion of the second segment 612 of the L-shaped link rod 61, covers the front portion of the second segment 612, extends away from the forelimb 62 of the other forelimb module 6, and rotates about a second front rotation axis AF2 that is perpendicular to the first front rotation axis AF1 and extends laterally, causing the forelimb 62 to swing up and down during rotation and to propel itself against water resistance. In this embodiment, each forelimb 62 of a forelimb module 6 includes a forelimb frame 621 and a deformable forelimb foot 622. For each forelimb 62, the forelimb frame 621 is attached to a front portion of the second segment 612 of the L-shaped link rod 61, and the deformable forelimb foot 622 surrounds and covers the forelimb frame 621 and extends rearward as it moves away from the deformable forelimb foot 622 of the other forelimb module 6. Each deformable front flipper 622 of the forelimb module 6 is made of a flexible material (eg, a polymer material such as silicone, rubber, etc.).

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

[0025] The two hind leg modules 7 are each detachably connected to a hind leg 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 driven by two hind leg drive motors 5 via the two hind leg connectors 13, respectively. Each of the hind leg modules 7 includes a hind leg link rod 71 that extends in a direction parallel to the lateral direction and is attached to the rear of a respective one of the hind leg connectors 13, and a deformable hind flipper 72 that is attached to the rear of the hind leg link rod 71, covers the rear portion of the hind leg link rod 71, and extends rearward in the anterior-posterior direction. Each of the deformable hind flipper 72 of the hind leg module 7 is made of a flexible material (e.g., a polymer material such as silicone or rubber).

[0026] Because the deformable front flippers 622 of the forelimb module 6 and the deformable hind flippers 72 of the hind limb module 7 are made of a flexible material, the appearance of the forelimb module 6 and the hind limb module 7 appears more natural. Specifically, each of the deformable front flippers 622 is thicker at the front than at the rear and thicker at the medial side than at the lateral side. Each of the deformable hind flippers 72 is thicker at the front than at the hind side. Due to the material and configuration of the deformable front flippers 622 and the deformable hind flippers 72, when the forelimb module 6 and the hind limb module 7 encounter resistance from water as they sway in the water, the rear and lateral sides of each deformable front flipper 622 and the posterior side of each deformable hind flipper 72 deform and curve, thereby imitating the appearance and swimming motion of a turtle in the water. Furthermore, since each forelimb module 6 rotates with the forelimb 62 around the second front rotation axis AF2 and the L-shaped link rod 61 around the first front rotation axis AF1, the movement of the turtle robot 100 is relatively flexible and variable.

[0027] In this embodiment, a portion of each of the two front leg modules 6 and the two rear leg modules 7 is made of a flexible, deformable material, but the two front leg modules 6 and the two rear leg modules 7 may also be made of a rigid material if necessary, and are not limited to this.

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

[0029] Furthermore, since each of the two front leg modules 6 and the two hind leg modules 7 is driven by only one motor, and the two front leg modules 6 are each detachably connected to the front leg connectors 12, and the two hind leg modules 7 are each detachably connected to the hind leg connectors 13, the two front leg modules 6 and the two hind leg modules 7 can be quickly replaced, facilitating changes to the appearance and maintenance of the turtle robot 100.

[0030] 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 that is slidable relative to the waterproof casing 11 along a longitudinal axis extending in the front-to-rear direction, a weight member drive motor 82 that is attached to the waterproof casing 11, and a crank connection mechanism 83 that connects 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 another component that has weight and can change the position of the center of gravity of the turtle 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, and the weight member 81 has a pair of slide ribs 811 that slidably engage with the slide grooves 118, respectively. This allows the weight member 81 to slide back and forth relative to the waterproof casing 11 and change the position of the center of gravity of the turtle robot 100. In this way, the weight module 8 cooperates with the movement of the two forelimb modules 6 and the two hindlimb modules 7, so that the turtle robot 100 is controlled to ascend or descend in water.

[0032] The weight member drive motor 82 is rotatable about an upright axis perpendicular to the fore-aft and lateral directions, and includes a weight drive shaft 821 co-movably connected to a crank connection mechanism 83 for driving 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 connecting hole 114 and connects to the weight member 81. The head module 9 includes a connecting rod 91 that extends through the head connecting hole 114 and connects to the weight member 81, a head casing 92 that includes a connecting bracket 921 and opens rearward in the front-to-rear direction, and a dual-shaft motor 93 that is connected between the connecting rod 91 and the head casing 92 and drives the head casing 92 to rotate relative to the connecting rod 91. In this embodiment, the connecting rod 91 is hollow, allowing electrical wires (not shown) to pass therethrough.

[0034] 5 and 6, the dual-shaft motor 93 includes a first rotating shaft 931 that extends laterally and connects to the connecting rod 91, and a second rotating shaft 932 that extends parallel to the upright axis and connects to the connecting bracket 921 of the head casing 92. The structure of the first rotating shaft 931 and the second rotating shaft 932 allows the head casing 92 to swing up and down and left and right relative to the connecting rod 91. Furthermore, because the connecting rod 91 connects to the weight member 81 that is slidable relative to the waterproof casing 11, the head casing 92 can move back and forth together with the weight member 81 and can extend and retract relative 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 therein for accommodating the dual-shaft motor 93. The waterproof cover 14 prevents seawater or freshwater from entering the head space 94 or the waterproof space 111 via the head connection hole 114. The waterproof cover 14 is made of a flexible, deformable waterproof material such as silicone or rubber. The waterproof cover 14 has an expandable folding portion 141 that can accommodate the connecting rod 91 when the weight member 81 moves relative to the waterproof casing 11, facilitating the swinging of the head casing 92.

[0036] 6, two locking structures AL are disposed between the waterproof cover 14 and the head module 9, and between the waterproof cover 14 and the waterproof casing 11. One of the locking structures AL disposed between the waterproof cover 14 and the head module 9 has a convex-concave fitting structure, and the other locking structure AL disposed 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, a locking ring 15 is placed over 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. Note that in other embodiments, another locking ring may be disposed between the waterproof cover 14 and the head module 9.

[0037] As shown in FIG. 5, the turtle robot 100 further includes a plurality of infrared sensors IS disposed in the main accommodation chamber 111a and the head space 94 of the waterproof space 111 and electrically connected to the control unit 3. The infrared sensors IS output a plurality of distance signals to the control unit 3, each indicating the distance between a respective one of the infrared sensors IS and a detected object. When at least one of the distance signals meets a specific criterion (e.g., the distance between a respective one of the infrared sensors IS and the detected object is smaller than a predetermined value), the control unit 3 controls the front leg drive motors 4 and the hind leg drive motors 5 to move the turtle robot 100 away from the object, thereby preventing the turtle robot 100 from colliding with surrounding obstacles (i.e., objects). 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, the two front leg drive motors 4, the two hind leg drive motors 5, and the control unit 3 are all disposed in the waterproof space 111 of the waterproof casing 11, eliminating the need for waterproof motors and simplifying the overall mechanical design of the turtle robot 100. Furthermore, since each of the two front leg modules 6 and the two hind leg modules 7 is driven by only one motor, and the two front leg modules 6 are detachably connected to the two front leg connectors 12, respectively, and the two hind leg modules 7 are detachably connected to the two hind leg connectors 13, respectively, the two front leg modules 6 and the two hind leg modules 7 can be easily and quickly replaced, facilitating changes to the appearance of the turtle robot 100 and its maintenance.

[0039] In the above description, for purposes of explanation, numerous specific details are set forth to provide a thorough understanding of the embodiments. However, it will be apparent to one skilled in the art that one or more other embodiments may be practiced without these specific details. Furthermore, in the description of "one embodiment" or "an embodiment" herein, all references to an ordinal number or other designation should be understood to include specific aspects, structures, and features of the present invention. Furthermore, although multiple variations may be incorporated into a single embodiment, drawing, or description thereof, this is for the purpose of streamlining the description and for the purpose of understanding the multifaceted aspects of the present invention. Furthermore, one or more features or specific embodiments of one embodiment may, where appropriate, be combined with one or more features or specific embodiments of other embodiments in the practice of the present invention.

[0040] Although the embodiments and variations of the present invention have been described above, the present invention is not limited to these and encompasses all modifications and equivalent configurations as various configurations falling within the spirit and scope of the broadest interpretation. [Explanation of symbols]

[0041] 100 Turtle Robot 1 Waterproof housing unit 11 Waterproof casing 11a Lower casing 11b Upper casing 111 Waterproof space 111a Main Containment Chamber 111b Front motor chamber 111c Rear motor chamber 112 Front leg connection hole 113 Hind leg connection hole 114 Head connection hole 115 Main casing part 116 Front leg motor casing 117 Hind leg motor casing 118 Slide groove 12 Forelimb Connector 13 Hindlimb Connector 14 Waterproof cover 141 Folding section 15 Locking ring 2 Decorative covers 21 Upper half 22 Lower half 3. Control Unit 31 Control circuit board 4 Forelimb drive motors 41 Front motor body 42 Front leg drive shaft 5 Hindlimb drive motor 51 Rear motor body 52 Hind leg drive shaft 6 Forelimb Module 61 L-shaped link rod 611 First Segment 612 Second Segment 62 Forelimb 621 Front Leg Frame 622 Transformable Flippers 63 Angle limiting mechanism 631 Arc-shaped slide groove 632 Slide protrusion 7 Hindlimb Module 71 Hind leg link rod 72 Transformable hind flippers 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 Connecting rod 92 Head casing 921 Connecting Bracket 93 Dual Shaft Motor 931 First Rotating Shaft 932 Second Rotating Shaft 94 Head space AF1 First front pivot 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 waterproof housing unit, two front leg drive motors, two rear leg drive motors, two front leg modules, two rear leg modules, a control unit, and a weight module; The waterproof housing unit includes: a waterproof casing defining a waterproof space therein and having two front leg connection holes for fluidly communicating the waterproof space with the outside and two rear leg connection holes for fluidly communicating the waterproof space with the outside; two front limb connectors that can be sealably connected to the front limb connection holes, respectively; two hind leg connectors that are sealably connected to the hind leg connection holes, respectively; 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 a respective one of the front limb connectors; the hind leg drive motors are disposed in the waterproof space, and each of the hind leg drive motors includes a hind leg drive shaft connected to a respective one of the hind leg connectors; the forelimb modules are detachably connected to the forelimb connectors, and are driven by the forelimb drive motors via the forelimb connectors; the hind leg modules are detachably connected to the hind leg connectors, and are driven by the hind leg drive motors via the hind leg connectors; the control unit is attached to the waterproof space of the waterproof casing and is configured to control the front leg drive motor and the hind leg drive motor; The weight module is disposed in the waterproof space, The weight module comprises: 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; the control unit is configured to control the weight member drive motor to drive movement of the weight member via the crank connection mechanism; Turtle robot.

2. each of the forelimb drive motors further includes a front motor body; Each of the rear leg drive motors further includes a rear motor body; The waterproof space is two front motor accommodating chambers for accommodating the front motor bodies of the front limb drive motors, respectively; two rear motor accommodating chambers for accommodating the rear motor bodies of the rear leg drive motors, respectively; The waterproof casing is A main casing portion; two front limb motor casing parts each having a front limb connection hole formed therein and cooperating with the main casing part to define the front motor accommodating chamber; two rear leg motor casing parts each having the rear leg connection hole formed therein and cooperating with the main casing part to define the rear motor accommodating chamber; The turtle robot according to claim 1 .

3. The turtle robot according to claim 1 , wherein the weight member is a battery unit.

4. 2. The turtle robot of claim 1, wherein the weight member drive motor includes a weight drive shaft rotatable about an upright axis perpendicular to the front-to-rear direction and cooperatively connected to the crank connection mechanism to drive the movement of the weight member.

5. The waterproof casing further has a head connection hole fluidly communicating with the waterproof space; The turtle robot further includes a head module extending through the head connection hole and connecting to the weight member; The waterproof housing unit further includes a waterproof cover attached between the head module and the waterproof casing. The turtle robot according to claim 1 .

6. The head module comprises: a connecting rod extending through the head connecting hole and connecting to the weight member; a head casing that opens rearward in the front-rear direction; 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 robot according to claim 5.

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

8. each of the forelimb modules further includes an angle limiting mechanism attached between the L-shaped link rod and the forelimb for limiting a rotation angle of the forelimb relative to the second segment of the L-shaped link rod; The angle limiting mechanism of each of the forelimb modules comprises: an arc-shaped slide groove formed in one of the L-shaped link rod and the front leg; a slide protrusion formed on the other of the L-shaped link rod and the front leg, the slide protrusion slidably engaging with the arc-shaped slide groove; The turtle robot according to claim 7.

9. each forelimb of the forelimb modules includes a forelimb frame and a deformable forelimb; For each forelimb of the forelimb module: the front leg frame is attached to the front portion of the second segment of the L-shaped link rod; the deformable front flippers surround and cover the front leg frame and extend rearward as they move away from the deformable front flippers of the other one of the front leg modules; The turtle robot according to claim 7.

10. each of the hind leg connectors is rotatable about a laterally extending rear axis of rotation; Each of the hind limb modules comprises: a rear leg link rod extending in a direction parallel to the lateral direction and attached to a rear portion of each of the rear leg connectors; and deformable hind flippers attached to rear portions of the hind leg link rods, covering the rear portions of the hind leg link rods, and extending rearward in the front-to-rear direction. The turtle robot according to claim 1 .

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