We present a set of six Astronomy outreach workshops for children called ''Chapuzón cósmico''. These workshops took place at the Museo de la Ciencia y el Cosmos of La Laguna (Tenerife, Spain), from autumn 2015 to spring 2016 and reached about 240 children. They were carried out using a very dynamical and participative approach, so as to stimulate the children's natural curiosity for Science. The topics ranged from the Moon and the nearby planets to the furthest galaxies and stars. In this work, we present in more detail the followed methodology, the material and the main activities of the different workshops. We also present the ''Principio Cero'' outreach project that was born with the workshops.