A motor-driven quadrupedal skeletal training device

Abstract

This invention provides a motor-driven quadrupedal skeletal training device, relating to the technical field of animal harnesses, including a harness mechanism and a robotic arm; the harness mechanism includes a back plate; the robotic arm includes a rotating assembly, a first arm body, a transmission assembly, and a second arm body connected in sequence, the first arm body being connected to the back plate via the rotating assembly, the rotating assembly including a power motor and a rotating body, the output shaft of the power motor being rotatably connected to one end of the rotating body, the other end of the rotating body being connected to the first arm body via a connecting shaft, and the output shaft and the connecting shaft being hinged; the planes of the output shaft and the connecting shaft are perpendicular; the transmission assembly includes a first connecting rod and a second connecting rod connected to the second arm body, the first connecting rod and the second connecting rod being connected via a hinge shaft, the first arm body also having a transmission motor, the transmission shaft of the transmission motor being drively connected to the first connecting rod, the planes of the transmission shaft and the hinge shaft being perpendicular.

Description

Technical Field

[0001] This invention relates to the technical field of animal harnesses, and more specifically, to a motor-driven quadrupedal skeletal training device. Background Technology

[0002] As people's living standards improve, pet ownership is becoming increasingly common. In cities, pets, such as dogs, are typically carried in harnesses or on leashes when out and about. These harnesses and leashes only serve a guiding function. In addition, there are other products, such as anti-explosion leashes, spiked collars, electric shock collars, and positioning aids, which aim to control the pet. Anti-explosion leashes work by using the suffocating sensation caused by the rope tightening around the neck to serve as a warning. Spiked collars use the stinging sensation from the protruding spikes to stop the behavior. Electric shock collars use either a weak electric shock or a strong motor to train the pet. The products on the market mentioned above have relatively limited functions and types.

[0003] In addition, these products are quite harmful to animals, and improper use can easily lead to accidents. Summary of the Invention

[0004] The purpose of this invention is to provide a motor-driven quadrupedal skeletal training device to achieve the technical effect of assisting in the training of animal behavior.

[0005] The present invention is achieved through the following technical solution: including a harness mechanism for wearing on the back of a quadruped and a robotic arm for driving the behavior of the quadruped; the harness mechanism includes a back plate that fits against the back of the quadruped;

[0006] The robotic arm includes a rotating assembly, a first arm body, a transmission assembly, and a second arm body connected in sequence. The first arm body is connected to the back plate via the rotating assembly. The rotating assembly includes a power motor and a rotating body. The output shaft of the power motor is rotatably connected to one end of the rotating body. The other end of the rotating body is connected to the first arm body via a connecting shaft and is hinged through the connecting shaft. The planes containing the output shaft and the connecting shaft are perpendicular.

[0007] The transmission assembly includes a first connecting rod and a second connecting rod connected to the second arm body. A hinge shaft is provided between the first connecting rod and the second connecting rod, and they are hinged together through the hinge shaft. A transmission motor is also provided on the first arm body. The transmission shaft of the transmission motor is connected to the first connecting rod. The plane containing the transmission shaft and the hinge shaft is perpendicular to each other.

[0008] To better realize the present invention, the rotating body further includes a mounting plate mounted on the back plate and a rotating cylinder mounted on the mounting plate. The power motor is located inside the rotating cylinder and is connected to the rotating cylinder in a transmission manner. The outer wall of the rotating cylinder is also provided with a rotating body. A connecting shaft is also provided between the rotating body and the rotating cylinder, and the rotating body is hinged to the rotating cylinder through the connecting shaft.

[0009] To better realize the present invention, the first arm body is further provided with a strip-shaped long groove at one end, and a movable part is provided in the strip-shaped long groove. The movable part is hinged to the rotating body through the connecting shaft.

[0010] To better realize the present invention, the other end of the first arm body is provided with a notch, one end of the first connecting rod is placed in the notch, the transmission motor is provided in the first arm body, and the transmission shaft of the transmission motor passes through the first arm body and is connected to the first connecting rod for transmission.

[0011] To better realize the present invention, the end of the first connecting rod is provided with a ring, and a reducer is fixedly installed inside the ring. The drive shaft of the transmission motor is connected to the reducer.

[0012] To better realize the present invention, the back plate is further provided with a motherboard cavity and an accessory cavity. The motherboard cavity is provided with a control motherboard and a battery. The battery is electrically connected to the control motherboard.

[0013] The accessory cavity is equipped with a motor control group and a controller. The controller is electrically connected to the control main board, the controller is electrically connected to the motor control group, and the motor control group is electrically connected to the power motor and the transmission motor.

[0014] To better realize the present invention, the accessory cavity is further provided with a placement plate and an inclined plate. The inclined plate is disposed on both sides of the placement plate, and the free end of the inclined plate is installed at an angle downward. The placement plate and the inclined plate are in the shape of "︹". The placement plate is used to install accessories, and the inclined plate is used to install circuits.

[0015] To better realize the present invention, the strap mechanism is further provided with a motherboard cover plate for covering the motherboard cavity and an accessory cover plate for covering the accessory cavity. The accessory cover plate is provided with an exhaust assembly, which includes multiple blocks arranged in a stepped manner, and the adjacent blocks have gaps.

[0016] To better realize the present invention, a mounting base is further provided at one end of the back plate, a speaker is provided inside the mounting base, and a camera is connected above the mounting base;

[0017] The speaker and the camera are electrically connected to the control motherboard and the battery, respectively.

[0018] To better realize the present invention, the first arm body and the second arm body are respectively provided with protective layers, and the second arm body is also provided with leg straps, or / and;

[0019] The harness mechanism is also provided with a protective net pad, which is located at the bottom of the back plate and contacts the back of the quadruped. A neck strap is also connected to the protective net pad, and an abdominal strap, or / and, is also provided on the back plate.

[0020] LED strips are provided on the back plate, the first arm, and the second arm.

[0021] The beneficial effects of this invention are:

[0022] This invention incorporates a harness mechanism and a robotic arm. The harness is worn on the animal's back, and the robotic arm is worn on the animal's legs. Through the coordinated use of the robotic arm and the harness mechanism, the invention can assist in restraining the animal's behavior and train the animal's behavior. The device has a compact structure and strong functionality.

[0023] The harness mechanism provided by the present invention includes a back plate that can fit against the back of an animal and is connected by a belly strap. In addition, a protective net pad is provided at the bottom of the back plate to improve the comfort of contact. A neck strap is provided on the protective net pad, and the cooperation between the neck strap and the belly strap makes the installation more stable.

[0024] The backplate provided by this invention is further divided into a main board compartment and an accessory compartment. The main board compartment houses the control main board and the battery, while the accessory compartment houses the controller and the motor control group. With the coordinated operation of the control main board, the controller, and the motor control group, the robotic arm can smoothly cooperate with the animal's behavior and can promptly restrain and control the animal's behavior.

[0025] The robotic arm provided by this utility model includes a rotating assembly, a first arm body, a transmission assembly, and a second arm body. The rotating assembly and the transmission assembly both function as joints. The first and second arm bodies are similar to the thighs and calves of an animal. Driven by the rotating assembly and the transmission assembly, both the first and second arm bodies can be adjusted in multiple angles and directions. In conjunction with the control motherboard, controller, and motor control group, it works together to assist in restraining animal behavior and to train animal behavior. This structure is novel, ingeniously designed, original, and has strong market prospects. Attached Figure Description

[0026] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the present invention will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 A schematic diagram of the structure of the motor-driven quadrupedal skeletal training device provided by the present invention;

[0028] Figure 2 An exploded view of the motor-driven quadrupedal skeletal training device provided by the present invention;

[0029] Figure 3 A partial structural schematic diagram of the motor-driven quadrupedal skeletal training device provided by the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of the shoulder strap mechanism provided by the present invention;

[0031] Figure 5 An exploded view of the strap mechanism provided by the present invention;

[0032] Figure 6 A schematic diagram of the structure of the robotic arm provided by the present invention;

[0033] Figure 7 This is a schematic diagram of the structure of the rotating assembly provided by the present invention;

[0034] Figure 8 An exploded view of the rotating assembly provided by the present invention;

[0035] Figure 9 This is a schematic diagram of the exhaust assembly provided by the present invention;

[0036] Figure 10 An exploded view of the robotic arm structure provided by this invention;

[0037] Figure 11 This is a schematic diagram of the robotic arm structure provided by the present invention;

[0038] Figure 12 A reference diagram showing the usage state provided for this invention.

[0039] icon:

[0040] 100-Shoulder strap mechanism, 110-Back plate, 120-Main board cavity, 121-Control main board, 122-Battery, 123-Main board cover, 130-Accessory cavity, 131-Motor control group, 132-Controller, 133-Placement plate, 134-Sloping plate, 135-Accessory cover, 136-Plate, 140-Mounting base, 141-Camera, 150-Protective net padding, 151-Neck strap, 160-Abdominal strap, 170-Light strip, 200-Robotic arm, 201 - Protective layer, 202 Leg belt, 210 Rotating assembly, 211 Power motor, 212 Rotating body, 2121 Mounting plate, 2122 Rotating drum, 2123 Rotating body, 2124 Adapter shaft, 213 Connecting shaft, 220 First arm body, 221 Strip groove, 222 Movable part, 223 Notch, 230 Transmission assembly, 231 First connecting rod, 232 Second connecting rod, 233 Hinge shaft, 234 Transmission motor, 240 Second arm body. Detailed Implementation

[0041] The technical solutions of the present invention will now be described with reference to the accompanying drawings.

[0042] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0043] Please refer to Figures 1-11 This invention provides a motor-driven quadrupedal animal skeletal training device. Existing products such as leashes, pet harnesses, spiked collars, and positioning aids have simple structures and functions, low safety, and lack the function of assisting behavioral training. In order to solve the above technical problems, this invention sets up a harness mechanism 100 and a robotic arm 200 to achieve the purpose of assisting animal behavioral training, and also has high safety.

[0044] The structure of the carrying strap mechanism 100 and the robotic arm 200 will now be described in detail:

[0045] The carrying mechanism 100 mainly includes a back plate 110 that fits against the back of a quadruped. The back plate 110 has a conforming curved surface. In addition, a protective net pad 150 is provided at the bottom of the back plate 110. The purpose of this is to improve the fit and comfort between the carrying mechanism 100 and the quadruped. As shown in the figure, the contact area of ​​the protective net pad 150 with the quadruped is larger than the area of ​​the back plate 110, thereby reducing the contact points between the back plate 110 and the quadruped. In order to better install the carrying mechanism 100 on the back of the quadruped, a neck strap 151 is provided on the protective net pad 150, and an abdominal strap 160 is provided on the back plate 110 near the abdomen of the quadruped. Through the combined action of the neck strap 151 and the abdominal strap 160, the carrying mechanism 100 can be more firmly and stably installed on the quadruped. This wearing method will not cause resistance from the quadruped, and the quadruped will have a higher degree of fit. Both the neck band 151 and the abdominal band 160 are adjustable retractable bands, making them suitable for tetrapods of different sizes.

[0046] The back panel 110 includes an integrally molded mainboard compartment and an accessory compartment. The mainboard compartment corresponds to the neck of the quadruped, and the accessory compartment corresponds to the back of the quadruped. The mainboard compartment has a mainboard cavity 120, which contains a control mainboard 121 and a battery 122. The control mainboard 121 has a built-in CPS locator, Bluetooth chip, and E-SIM card slot, which can perform functions such as real-time network positioning, data uploading to the cloud, and AI chip real-time recording and learning of pet behavior and issuing commands. The control mainboard 121 can be purchased directly from the market, so its structure will not be described in detail. The battery 122 mainly provides power. In order to make the structure more perfect and the stability higher, a mainboard cover 123 is also provided on top of the mainboard cavity 120 to cover the mainboard cavity 120. It is fixed by fasteners, bolts and other structures.

[0047] Additionally, a mounting base 140 is provided on the motherboard compartment. This mounting base 140 is equipped with a speaker and a camera 141. Both the speaker and camera 141 are electrically connected to the battery 122 and the control motherboard 121, enabling them to control the normal operation of the speaker and camera 141. As shown in the figure, the mounting base 140 is located on both sides of the motherboard cavity 120. The advantage of this arrangement is that it is positioned at the ears of the four-legged animal, so that when the owner makes a sound, it can be received by the four-legged animal more promptly.

[0048] The accessory compartment is equipped with an accessory cavity 130, which contains multiple accessories, including a motor control group 131 and a controller 132. The controller 132 is connected to the control main board 121 and can also be electrically connected to the motor control group 131 to control the robotic arm 200. In addition, the accessory compartment is also equipped with connecting wiring, etc. The motor control group 131 is used to coordinate and control the power motors of the four robotic arms.

[0049] To make the installation layout of multiple components in the component cavity 130 more reasonable and the wiring smoother, a placement plate 133 and a ramp 134 are also provided in the component cavity 130. There are two ramps 134, which are placed on both sides of the placement plate 133, forming a "︹" shape. The motor control group 131 and the controller 132 are placed on the placement plate 133, and the connected wiring is installed on the ramp 134. This reasonable layout space is more conducive to the normal inspection and maintenance of the equipment. In addition, it also provides better conditions for heat dissipation.

[0050] The accessory cavity 130 contains numerous devices that require heat dissipation during use. The exhaust assembly is located on the accessory cover plate 135. The placement of this plate 133 reduces the distance between the accessory and the exhaust assembly, thus improving heat dissipation. Furthermore, the exhaust assembly is composed of multiple plates 136 arranged in a stepped manner, with gaps between adjacent plates 136 forming exhaust holes. This structure resembles the structure of fish gills, providing ventilation and allowing for faster gas flow within the accessory cavity 130, reducing unnecessary damage to the devices within the accessory cavity 130 caused by high temperatures.

[0051] The robotic arm 200 is mounted on the harness. The robotic arm 200 specifically includes a rotating component 210, a first arm body 220, a transmission component 230, and a second arm body 240. The first arm body 220 and the second arm body 240 have similar structures. The rotating component 210 and the transmission component 230 both provide multi-angle and multi-directional rotation, similar to a joint, which facilitates coordination with the behavior of quadrupedal animals.

[0052] First, the structure of the rotating assembly 210 will be described in detail. As shown in the figure, the rotating assembly 210 mainly includes a power motor 211 and a rotating body 212. Driven by the power motor 211, the rotating body 212 can rotate accordingly. The rotating body 212 in turn drives the first arm 220. In addition, there is a connecting shaft 213 between the first arm 220 and the rotating body 212, which can also achieve rotation in multiple angles and directions.

[0053] The rotating body 212 specifically includes a mounting plate 2121 mounted on the back plate 110 and a rotating drum 2122 mounted on the mounting plate 2121. The power motor 211 can be located inside or outside the rotating drum 2122. In this embodiment, it is more preferable to locate the power motor 211 inside the rotating drum 2122. This has the advantage of saving space and making the product structure more compact. Under the action of the power motor 211, the rotating drum 2122 can be rotated. The outer arm of the rotating drum 2122 is also provided with a rotating body 2123. The rotating body 2123 is Y-shaped, and one end of it is hinged to the outer arm of the rotating drum 2122 through a connecting shaft 2124. Under the action of the connecting shaft 2124, the rotating body 2123 can be adjusted in multiple angles and directions. Specifically, the rotating body 2123 can follow the rotating cylinder 2122 in a circular motion, which can be seen from the figure as a forward and backward movement. Under the action of the connecting shaft 2124, the rotating body 2123 can also move up and down. The other end of the rotating body 2123 is also hinged to the first arm 220 through the connecting shaft 213, so that the first arm 220 can also be adjusted in multiple angles and directions. By setting the connecting shaft 213 and the connecting shaft 2124, it can achieve multi-level adjustment, which is more compatible with quadrupeds. This design is more humanized. If only the connecting shaft 213 is set without the connecting shaft 2124, this setting will cause some interference when the quadruped moves, and its flexibility and adaptability are poor.

[0054] The specific connection between the rotating body 2123 and the first arm 220 is as follows: a long strip groove 221 is provided at one end of the first arm 220, and a movable part 222 is provided in the long strip groove 221. The movable part 222 can move in the long strip groove 221, so that the installation position of the first arm 220 is adjustable, thereby improving the range of use. Through the hinge between the movable part 222 and the rotating body 2123 via the connecting shaft 213, the purpose of multi-level flexible movement is achieved.

[0055] In order to enable the first arm 220 to move in multiple angles and directions, the output shaft of the power motor 211 is further defined to be perpendicular to the plane of the connecting shaft 213, and the planes of the connecting shaft 213 and the adapter shaft 2124 are parallel or coincident.

[0056] Under such constraints, the first arm 220 can rotate in multiple angles and directions, and the parts can cooperate with each other to improve overall flexibility.

[0057] The transmission assembly 230 includes a first link 231 and a second link 232. The first link 231 is connected to the first arm body 220, and the second link 232 is connected to the second arm body 240. The first link 231 and the second link 232 are connected by a hinge shaft 233, as shown in the figure. In addition, a transmission motor 234 is provided on the first arm body 220. The transmission shaft of the transmission motor 234 is connected to the first link 231, so that the first link 231 can rotate around the transmission shaft. The plane where the transmission shaft and the hinge shaft 233 are located is perpendicular, so that the second arm body 240 can rotate around the transmission shaft (at this time, the movement direction of the second arm body 240 is back and forth) and also rotate around the hinge shaft 233 (at this time, the movement direction of the second arm body 240 is up and down). The transmission assembly 230 can also act as a joint, and the second arm body 240 also has higher flexibility.

[0058] To facilitate the installation of the first connecting rod 231, a notch 223 is provided at the end of the first wall body. The opening of the notch 223 faces the transmission assembly 230, and the end of the first connecting rod 231 is placed inside the notch 223. A groove is also provided on the first wall body, in which a transmission motor 234 is placed. The drive shaft of the transmission motor 234 passes through the first arm body 220 and is connected to the first connecting rod 231. In addition to placing the transmission motor 234, the groove can also accommodate the wiring connected to the transmission motor 234.

[0059] To facilitate control of the rotation of the first link 231, the structure of the first link 231 is further optimized. Specifically, a ring is provided at the end of the first link 231, and a reducer is fixedly installed inside the ring. The reducer is connected to the drive shaft of the drive motor 234, thereby achieving the purpose of optimizing the rotation.

[0060] To enhance comfort when the device is mounted on a quadruped, a protective layer 201 is provided on the first arm 220 and the second arm 240, and a leg strap 202 is provided to facilitate mounting on the legs of the quadruped. To improve visibility, especially at night, light strips 170 are provided on the back plate 110, the first arm 220, and the second arm 240.

[0061] The workflow of this invention is as follows:

[0062] The backplate 110 and the robotic arm 200 are respectively installed on the back and legs of a quadruped animal, preferably a dog. The motor-driven quadruped skeletal training device provided by this invention can assist in controlling animal behavior and also train animal behavior.

[0063] When it is necessary to train animal behavior, the main operating procedures are as follows:

[0064] Taking training an animal to kneel down as an example, under the action of the power motor 211, the rotating drum 2122 is driven to rotate clockwise, which drives the first arm 220 forward. Through the drive transmission motor 234, the first connecting rod 231 is driven to rotate counterclockwise, which causes the second arm 240 to move backward. Since the mechanical arm 200 is connected to the leg, it drives the joint between the animal's lower leg and thigh, thus presenting a kneeling posture.

[0065] Taking training an animal to stand on its hind legs as an example, under the action of the power motor 211, the rotating drum 2122 is driven to rotate, so that its rotating body 2123 is in the vertical direction, and the first arm 220 is also in the vertical direction. Similarly, by driving the transmission motor 234, the second arm 240 is also in the vertical direction, so that the first link 231 and the second link 232 tend to be in a straight line, thereby driving the joint between the thigh and the lower leg to present a standing posture.

[0066] Taking the training of an animal to climb down using its front legs as an example, under the action of the power motor 211, the rotating drum 2122 is driven to rotate clockwise, which drives the first arm 220 forward and the rotation range will be greater. In addition, the drive transmission motor 234 drives the first connecting rod 231 to rotate, so that the first connecting rod 231 and the second connecting rod 232 are on a straight line, thereby driving the joints of the thigh and the lower leg to present a climbing posture.

[0067] Training methods for other postures are similar to the adjustment process described above. The above describes the operational flow of the robotic arm 200. During use, it is also operated in conjunction with a remote controller. The remote controller is electrically connected to the control motherboard 121 and the controller 132. The control motherboard 121 can provide timely feedback on the current position of the animal and the state of its behavior. It also includes a data detection information module, which can provide timely information feedback and processing. The state of the animal's behavior is detected by a speed detector, which can be installed on the robotic arm 200. The detected information is processed on the control motherboard 121 and transmitted to the remote controller. The owner receives the corresponding information and issues a command, which is executed by the controller 132. Under the action of the controller 132, the drive motor 211 and the transmission motor 234 are driven, thereby achieving the purpose of reasonable animal behavior training. The components mentioned above, such as the control motherboard 121, speed detector, and controller 132, can all be purchased directly from the market and will not be elaborated on further here.

[0068] The procedure for assisting in controlling animal behavior is as follows:

[0069] When an animal is stimulated outdoors or elsewhere and experiences a sudden lunge, the rotation of the power motor 211 and the transmission motor 234 needs to be stopped. This forces the first arm 220 and the second arm 240 to stop following the animal's behavior. With the robotic arm 200 stationary, the animal's legs are pulled to assist in controlling the animal's behavior, thereby preventing the animal from lunging and reducing unnecessary dangers.

[0070] Both the drive motor and the power motor are preferably PID-controlled motors, which contain PID frequency converters, regulators, etc. When it is necessary to adjust the behavior of the quadruped, the PID-controlled motor can control and adjust the direction of the motor in the forward direction. When no adjustment is needed, that is, during normal use, the PID-controlled motor has the ability to perform reverse adjustment, which can adapt to the normal behavior of the quadruped and thus not affect the normal movement of the quadruped. This PID controller is existing technology, and this control method will not be described in detail here.

[0071] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A motor-driven quadrupedal skeletal training device, characterized in that, It includes a harness mechanism (100) for wearing on the back of a quadruped and a robotic arm (200) for driving the behavior of the quadruped; the harness mechanism (100) includes a back plate (110) that conforms to the back of the quadruped; The robotic arm (200) includes a rotating assembly (210), a first arm body (220), a transmission assembly (230), and a second arm body (240) connected in sequence. The first arm body (220) is connected to the back plate (110) through the rotating assembly (210). The rotating assembly (210) includes a power motor (211) and a rotating body (212). The output shaft of the power motor (211) is rotatably connected to one end of the rotating body (212). The other end of the rotating body (212) is connected to the first arm body (220) through a connecting shaft (213), and is hinged through the connecting shaft (213). The planes containing the output shaft and the connecting shaft (213) are perpendicular. The transmission assembly (230) includes a first connecting rod (231) and a second connecting rod (232) connected to the second arm body (240). A hinge shaft (233) is provided between the first connecting rod (231) and the second connecting rod (232), and they are hinged through the hinge shaft (233). A transmission motor (234) is also provided on the first arm body (220). The transmission shaft of the transmission motor (234) is connected to the first connecting rod (231). The planes where the transmission shaft and the hinge shaft (233) are located are perpendicular. The rotating body (212) includes a mounting plate (2121) mounted on the back plate (110) and a rotating cylinder (2122) mounted on the mounting plate (2121). The power motor (211) is located inside the rotating cylinder (2122) and is connected to the rotating cylinder (2122) in a transmission. The outer wall of the rotating cylinder (2122) is also provided with a rotating body (2123). A connecting shaft (2124) is also provided between the rotating body (2123) and the rotating cylinder (2122). The rotating body (2123) is hinged to the rotating cylinder (2122) through the connecting shaft (2124). The first arm body (220) has a strip-shaped groove (221) at one end, and a movable part (222) is provided in the strip-shaped groove (221). The movable part (222) is hinged to the rotating body (2123) through the connecting shaft (213). The other end of the first arm body (220) is provided with a notch (223), one end of the first connecting rod (231) is placed in the notch (223), the transmission motor (234) is located in the first arm body (220), and the transmission shaft of the transmission motor (234) passes through the first arm body (220) and is connected to the first connecting rod (231) for transmission.

2. The motor-driven quadrupedal skeletal training device according to claim 1, characterized in that, The end of the first connecting rod (231) is provided with a ring, and a reducer is fixedly installed inside the ring. The drive shaft of the drive motor (234) is connected to the reducer.

3. The motor-driven quadrupedal skeletal training device according to claim 1, characterized in that, The backplate (110) is also provided with a main board cavity (120) and an accessory cavity (130). The main board cavity (120) is provided with a control main board (121) and a storage battery (122). The storage battery (122) is electrically connected to the control main board (121). The accessory cavity (130) is provided with a motor control group (131) and a controller (132). The controller (132) is electrically connected to the control motherboard (121), the controller (132) is electrically connected to the motor control group (131), and the motor control group (131) is electrically connected to the power motor (211) and the transmission motor (234).

4. The motor-driven quadrupedal skeletal training device according to claim 3, characterized in that, The accessory cavity (130) is provided with a placement plate (133) and an inclined plate (134). The inclined plate (134) is located on both sides of the placement plate (133). The free end of the inclined plate (134) is installed at an angle downward. The placement plate (133) and the inclined plate (134) are in the shape of "︹". The placement plate (133) is used to install accessories, and the inclined plate (134) is used to install wiring.

5. The motor-driven quadrupedal skeletal training device according to claim 3, characterized in that, The strap mechanism (100) is further provided with a main board cover plate (123) for covering the main board cavity (120) and an accessory cover plate (135) for covering the accessory cavity (130). The accessory cover plate (135) is provided with an exhaust assembly, which includes a plurality of blocks (136). The plurality of blocks (136) are arranged in a stepped manner, and there is a gap between adjacent blocks (136).

6. The motor-driven quadrupedal skeletal training device according to claim 3, characterized in that, The back panel (110) is also provided with a mounting base (140) at one end, a speaker is provided in the mounting base (140), and a camera (141) is connected above the mounting base (140); The speaker and the camera (141) are electrically connected to the control motherboard (121) and the battery (122), respectively.

7. The motor-driven quadrupedal skeletal training device according to any one of claims 1 to 6, characterized in that, The first arm body (220) and the second arm body (240) are respectively provided with protective layers (201), and the second arm body (240) is also provided with leg straps (202), or / and; The harness mechanism (100) is also provided with a protective net pad (150), which is located at the bottom of the back plate (110) and contacts the back of the quadruped. A neck strap (151) is also connected to the protective net pad (150), and a belly strap (160) is also provided on the back plate (110), or / and. LED strips (170) are provided on the back plate (110), the first arm (220), and the second arm (240).

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