A hydraulically driven quadruped skeleton restraint device

Abstract

This invention provides a hydraulically driven quadrupedal skeletal restraint device, relating to the technical field of pet harnesses, including a harness mechanism and a robotic arm; the harness mechanism includes a backplate; the robotic arm includes a rotating assembly, a first arm body, a transmission mechanism, and a second arm body connected in sequence, the first arm body being connected to the backplate 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, and the other end of the rotating body being connected to the first arm body via a connecting shaft, and hinged to it; the planes containing the output shaft and the connecting shaft are perpendicular; the transmission mechanism includes an oil pipe, a spherical cover, and a transmission assembly, the transmission assembly including a transmission component and a transmission rod, the transmission component being placed inside the spherical cover and in contact with the inner wall of the spherical cover, the rod head of the transmission rod being connected to the first arm body, and the end of the spherical cover being connected to the second arm body; one end of the oil pipe is connected to the spherical cover, and the other end of the oil pipe is connected to a hydraulic tank.

Description

Technical Field

[0001] This invention relates to the technical field of pet harnesses, and more specifically, to a hydraulically driven quadrupedal skeletal restraint device. Background Technology

[0002] As living standards improve, more and more families are keeping pets such as cats and dogs. Owners are willing to spend more time interacting with their pets. When taking their pet dogs for a walk, they need to choose a suitable leash for convenience. The leash is used to control the pet's movements and prevent accidents. It can also be used to regulate the pet's behavior and make the pet obey commands. However, this type of leash can only restrain the animal's behavior by human intervention. Outdoors, animals are more unrestrained, especially in sudden situations, and people often cannot control them. In addition, when outdoors, people often untie the leash or other restraining objects to allow their pets to have more fun, making it impossible to control the animal's behavior in time in case of a sudden situation.

[0003] To control animal behavior, common devices such as shock-proof leashes, spiked collars, electric shock collars, and positioning aids have been designed. Shock-proof leashes work by using the sensation of suffocation caused by the rope tightening around the neck to serve as a warning. Spiked collars use the stinging sensation from the protruding spikes on the neck to stop the behavior. Electric shock collars use either a weak electric shock or a strong motor to train pets. Improper use of these products can potentially lead to accidents.

[0004] Therefore, it is necessary to set up a device that can regulate animal behavior. Summary of the Invention

[0005] The purpose of this invention is to provide a hydraulically driven quadrupedal skeletal restraint device for wearing on quadrupedal animals, which can restrain the animal's behavior and reduce the probability of dangerous situations.

[0006] This invention is achieved through the following technical solution:

[0007] It includes 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 conforms to the back of the quadruped.

[0008] The robotic arm includes a rotating assembly, a first arm body, a transmission mechanism, 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 to it. The planes containing the output shaft and the connecting shaft are perpendicular.

[0009] The transmission mechanism includes an oil pipe, a spherical cover, and a transmission assembly. The transmission assembly includes a transmission component and a transmission rod. The transmission component is placed inside the spherical cover and contacts the inner wall of the spherical cover. The rod head of the transmission rod is connected to the first arm body, and the end of the spherical cover is connected to the second arm body. One end of the oil pipe is connected to the spherical cover, and the other end of the oil pipe is connected to an oil pressure tank.

[0010] To better realize the present invention, further,

[0011] The transmission component includes a star-shaped sleeve fitted over the transmission rod, a retainer fitted over the star-shaped sleeve, and a plurality of ball heads provided on the star-shaped sleeve and the retainer, the ball heads contacting the inner wall of the spherical cover.

[0012] To better realize the present invention, further,

[0013] The spherical cover also includes a spherical cylinder, on which a sealing cover is connected, and the head of the transmission rod extends out of the spherical cover.

[0014] To better realize the present invention, further,

[0015] The rotating body 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 hinge shaft is also provided between the rotating cylinder and the rotating body, and the hinge shaft makes the rotating cylinder and the rotating body hinged.

[0016] To better realize the present invention, further,

[0017] The backplate includes an integrally formed motherboard compartment and an accessory compartment. The motherboard compartment has a motherboard cavity, and the accessory compartment has an accessory cavity.

[0018] The motherboard cavity is equipped with a battery and a control motherboard, and the battery is electrically connected to the control motherboard;

[0019] The accessory cavity is equipped with a controller and a hydraulic tank. The hydraulic tank is connected to the spherical cover through the oil pipe. The controller can control the liquid in the hydraulic tank to be drawn into the spherical cover or drawn back from the spherical cover to the hydraulic tank.

[0020] To better realize the present invention, further,

[0021] The accessory cavity is also equipped with a control motor, which is connected to the oil pressure tank to control the amount of liquid in the oil pressure tank.

[0022] To better realize the present invention, further,

[0023] The accessory cavity is also provided with a placement plate and an inclined plate. The inclined plate is arranged on both sides of the placement plate and forms a "︹" shape with the inclined plate.

[0024] The drive motor, oil pressure tank, and controller are mounted on the placement plate. The inclined plate is equipped with wiring, one end of which is connected to the control motherboard, and the other end of which is connected to the controller.

[0025] To better realize the present invention, further,

[0026] A motherboard cover is provided above the motherboard cavity, and an accessory cover is provided above the accessory cavity. The accessory cover is provided with a ventilation component, which includes several blocks arranged in a stepped manner, with gaps between adjacent blocks to form exhaust holes.

[0027] To better realize the present invention, the first arm body further includes an arm body and an arm cover body, the arm body body is provided with a groove, and the oil pipe portion is installed in the groove;

[0028] A connecting body is also provided between the rod head of the transmission rod and the first arm body, and the connecting body is connected to the first arm body.

[0029] To better realize the present invention, further,

[0030] The first arm and the second arm are respectively provided with protective layers, and the second arm is also provided with leg straps, or / and;

[0031] 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.

[0032] LED strips are provided on the back plate, the first arm, and the second arm.

[0033] To better realize the present invention, further,

[0034] A battery valve is also provided between the controller and the liquid oil pressure tank.

[0035] The beneficial effects of this invention are:

[0036] This invention utilizes a harness mechanism and a robotic arm. The harness mechanism is mounted on the back of a quadruped, while the robotic arm is attached to the harness and worn on the animal's legs. The robotic arm mainly comprises a rotating component, a first arm body, a transmission mechanism, and a second arm body. The rotating component functions similarly to a dog's thigh joint, and the transmission mechanism functions similarly to a dog's calf joint. During normal use, a power motor drives the rotating component to rotate back and forth, thereby allowing the first arm body to rotate back and forth. A connecting shaft allows the first arm body to rotate up and down, achieving multi-angle and multi-directional rotation similar to a joint, providing high flexibility. The rotating mechanism mainly comprises a spherical cover and a transmission component. When there is lubricating oil inside the spherical cover, the transmission component can rotate freely within it, ultimately enabling the transmission mechanism to achieve joint-like movement. This allows for normal use of the quadruped. When animal behavior needs to be controlled, the power motor and the lubricating oil inside the spherical cover are controlled (injected or withdrawn) to achieve a stop. This behavior control method can reduce harm to pets and prevent accidents. Attached Figure Description

[0037] 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.

[0038] Figure 1 A schematic diagram of the structure of the hydraulically driven quadrupedal skeletal restraint device provided by the present invention;

[0039] Figure 2 A partial structural schematic diagram of the hydraulically driven quadrupedal skeletal restraint device provided by the present invention;

[0040] Figure 3 An exploded view of the hydraulically driven quadrupedal skeletal restraint device provided by the present invention.

[0041] Figure 4 This is a schematic diagram of the structure of the shoulder strap mechanism provided by the present invention;

[0042] Figure 5 An exploded view of the strap mechanism provided by the present invention;

[0043] Figure 6 This is a schematic diagram of the ventilation assembly provided by the present invention;

[0044] Figure 7 This is a schematic diagram of the structure of the rotating assembly provided by the present invention;

[0045] Figure 8 An exploded view of the rotating assembly provided by the present invention;

[0046] Figure 9 A schematic diagram of the structure of the robotic arm provided by the present invention;

[0047] Figure 10 A partial structural schematic diagram of the robotic arm provided by the present invention;

[0048] Figure 11 A partial exploded view of the robotic arm provided by this invention;

[0049] Figure 12 This is a schematic diagram of the transmission mechanism provided by the present invention;

[0050] Figure 13 This is a schematic diagram of the transmission component provided by the present invention.

[0051] icon:

[0052] 100-Shoulder strap mechanism, 110-Back plate, 120-Main board compartment, 121-Main board cavity, 122-Battery, 123-Control main board, 124-Main board cover, 130-Accessory compartment, 131-Accessory cavity, 132-Controller, 133-Hydraulic tank, 134-Control motor, 135-Placement plate, 136-Sloping plate, 137-Accessory cover, 138-Plate plate, 140-Protective net pad, 141-Neck strap, 150-Abdominal strap, 160-Light strip, 200-Robotic arm, 210-Rotating assembly, 211-Power motor, 212-Rotating body, 212 1-Mounting plate, 2122-Rotating cylinder, 2123-Rotating body, 2124-Hinge shaft, 213-Connecting shaft, 220-First arm body, 221-Moving component, 222-Arm body, 223-Arm cover, 224-Groove, 230-Transmission mechanism, 231-Oil pipe, 232-Spherical cover, 2321-Spherical cylinder, 2323-Sealing cover, 233-Transmission assembly, 2332-Transmission rod, 2333-Star sleeve, 2334-Cage, 2335-Ball head, 235-Connecting body, 240-Second arm body, 241-Protective layer, 242-Leg belt. Detailed Implementation

[0053] The technical solutions of the present invention will now be described with reference to the accompanying drawings.

[0054] 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.

[0055] Please refer to Figures 1-13 ,

[0056] This invention provides a hydraulically driven quadrupedal skeletal restraint device. In the prior art, pet harnesses cannot restrain animal behavior in a timely manner. In order to solve the above-mentioned technical problems, this invention sets up a harness mechanism 100 and a robotic arm 200. Through the coordinated operation of the harness mechanism 100 and the robotic arm 200, it can achieve the purpose of timely restraint of animal behavior.

[0057] The hydraulically driven quadrupedal skeletal restraint device provided by this invention mainly includes a harness mechanism 100 and a robotic arm 200, the structures of which will be fully described first.

[0058] The harness mechanism 100 mainly includes a back plate 110 for fitting against the back of a quadruped. In order to fit against the back of the animal, the side of the back plate 110 near the back of the quadruped is curved. The material of the back plate 110 is not a conventional fabric material.

[0059] The structure of the backplate 110 is analyzed in more detail. The backplate 110 includes a main body compartment 120 and an accessory compartment 130. The main body compartment 120 is located near the neck of the quadruped, and the accessory compartment 130 is located on the back and abdomen of the quadruped. To facilitate the installation of the backplate 110 on the animal, an abdominal strap 150 is specifically provided on the accessory compartment 130. During use, in order to reduce the discomfort between the quadruped and the carrying mechanism 100, a protective net pad 140 is also provided to provide a certain degree of protection. The protective net pad 140 is also provided with a neck strap 141. The neck strap 141 and the abdominal strap 150 make the carrying mechanism 100 more secure and stable.

[0060] To further refine the structure of this device and facilitate the control of the robotic arm 200, the backplate 110 is further detailed. A motherboard cavity 121 is provided on the motherboard compartment 120, and an accessory cavity 131 is provided on the accessory compartment 130, as shown in the figure. The motherboard cavity 121 is used to house the battery 122 and the control motherboard 123. The control motherboard 123 has multiple structures, such as a built-in GPS locator, Bluetooth chip, and E-SIM card slot, which can be used for real-time network positioning and data uploading. It can also be electrically connected to the controller 132 of the robotic arm 200 to record and control the robotic arm 200. The control motherboard 123 can be synthesized from products available on the market, and its structure will not be described in detail here.

[0061] The storage battery 122 provides power to the control motherboard 123 and other devices that require electricity. The storage battery 122 can be electrically connected to the control motherboard 123 or to the controller 132, etc.

[0062] As shown in the figure, in order to facilitate the installation of the battery 122 and the control motherboard 123, the cavity structure of the motherboard cavity 121 is set in a T-shape. The advantage of this design is that it can be better distinguished and is also convenient for installation and disassembly.

[0063] A mounting bracket is provided on the motherboard compartment 120, in which a speaker and a camera are installed. The speaker and camera can also be electrically connected to the control motherboard 123 for control. A universal joint is provided between the camera and the mounting bracket, which allows the camera to rotate at multiple angles and directions to maximize its monitoring field of view. The speaker is placed close to the pet's ear so that the four-legged animal can hear the owner's commands in time.

[0064] The accessory compartment 130 is provided with an accessory cavity 131. The accessory compartment 130 is used to install some drive accessories of the robotic arm 200. The accessory compartment 130 is provided with a placement plate 135 and a ramp 136. The ramp 136 is located on both sides of the placement plate 135, forming a "︹" shape inside the accessory compartment 130. This shape is conducive to the separate arrangement of accessories and wiring, avoiding the confusion of wiring and equipment. The accessories are placed on the placement plate 135, and the wiring is arranged along the direction of the ramp 136. In addition to the separate arrangement, an accessory cover plate 137 is provided above the accessory compartment 130. The accessory cover plate 137 is provided with a ventilation component. The ventilation component is located at the connection between the ramp 136 and the placement plate 135. Being closer to the placement plate 135, it can dissipate the heat generated by the accessories on the placement plate 135 more quickly.

[0065] As shown in the figure, the placement plate 135 is mainly used to place the hydraulic tank 133 and the controller 132 driven by hydraulic pressure. A solenoid valve is also provided between the controller 132 and the hydraulic tank 133 to control the opening and closing of the hydraulic tank 133. The hydraulic tank 133 is connected to the robotic arm 200 through an oil pipe 231. In addition, a drive motor is provided, which controls the pumping in the hydraulic tank 133. Furthermore, when the detector detects that the oil pressure in the hydraulic tank 133 is insufficient, the drive motor can replenish the oil pressure in the hydraulic tank 133.

[0066] The ventilation component is installed on the accessory cover plate 137. The ventilation component mainly includes several blocks 138. The adjacent blocks 138 are arranged in a stepped manner and have gaps, which form exhaust holes. The structure of the ventilation component is similar to that of fish gills, which can efficiently exchange gas in the accessory cavity 131.

[0067] This invention provides a detailed description of the structure of the robotic arm 200:

[0068] As shown in the figure, there are four robotic arms 200, which are respectively fitted onto the four legs of a quadruped. The robotic arm 200 mainly includes a rotating assembly 210, a first arm body 220, a transmission mechanism 230, and a second arm body 240 connected in sequence. One end of the rotating assembly 210 is on the mounting back plate 110. The rotating assembly 210 includes a power motor 211 and a rotating body 212. The rotating body 212 rotates around the output shaft of the drive motor. As shown in the figure, the rotating body 212 mainly includes a rotating cylinder 2122. The power motor 211 is set inside the rotating cylinder 2122. The rotating body 2123 is rotatably connected to the outer arm of the rotating cylinder 2122. The rotating cylinder 2122 and the rotating body 2123 are hinged through a hinge shaft 2124, so that the rotating body 2123 can move around the hinge shaft 2124. Taking the direction in the figure as an example, it can move up and down. Under the action of the power motor 211, the rotating cylinder 2122 can move left and right.

[0069] The rotating body 2123 is Y-shaped, with one side of its inner wall connected to the rotating cylinder 2122, and the other side connected to the first arm 220 via a connecting shaft 213. Specifically, the first arm 220 is provided with a long strip groove, and a movable part 221 is provided in the long strip groove. The movable part 221 is hinged to the rotating body 2123 via the connecting shaft 213, so that the first arm 220 can be adjusted in multiple directions such as left and right, up and down.

[0070] The purpose of setting the long, narrow groove is to allow for adjustment of the installation position of the first arm 220, making it adaptable to more quadrupedal animals.

[0071] By setting up a rotating component 210, the first arm 220 can be rotated in multiple angles and directions under the drive of the rotating component 210, making the first arm 220 more flexible in its movement. Its movement is similar to that of a joint and is used in conjunction with the large joints of quadrupeds.

[0072] The first arm 220 and the second arm 240 are connected by a transmission mechanism 230. This transmission mechanism 230 mainly includes a spherical cover 232 and a transmission assembly 233, and also includes an oil pipe 231 connected to the spherical cover 232. The transmission assembly 233 can rotate within the spherical cover 232. The oil pipe 231 is connected to a hydraulic tank 133. Under the action of the controller 132 and the drive motor, lubricating oil in the hydraulic tank 133 can be fed into or extracted from the spherical cover 232, thereby changing the rotation rules of the transmission assembly 233 within the spherical cover 232. Specifically, when there is lubricating oil in the spherical cover 232, the friction between the transmission assembly 233 and the spherical cover 232 is smaller, and the transmission assembly 233... It can rotate freely inside the spherical cover 232. When the lubricating oil is drawn out from the spherical cover 232, the friction between the spherical cover 232 and the transmission component 233 is greater, so that the rotating component 210 cannot move inside the spherical cover 232. The specific structure of the transmission component 233 can be a ball head 2335 and a ball rod, or it can be as shown below, including a transmission element and a transmission rod 2332. The transmission element can rotate inside the spherical cover 232. The transmission rod 2332 is connected to the first arm body 220. In order to adjust the installation position between the first arm body 220 and the transmission mechanism 230, the part of the rod head of the transmission rod 2332 is also provided with a connecting body 235. The connecting body 235 is provided with a long strip-shaped hole.

[0073] As shown in the figure, the transmission component includes a star-shaped sleeve 2333 sleeved outside the transmission rod 2332 and a retainer 2334 disposed outside the star-shaped sleeve 2333. A plurality of ball heads 2335 are also provided between the star-shaped sleeve 2333 and the retainer 2334, which contact the inside of the spherical cover 232 through the ball heads 2335.

[0074] By setting a transmission component, which has a ball head 2335, the transmission component can rotate in multiple angles and directions within the spherical cover 232, forming a universal steering function. Through this setting, the second arm 240 can rotate in multiple angles and directions.

[0075] To enhance overall integrity, the spherical cover 232 also includes a spherical cylinder 2321, on which a sealing cover 2323 is connected. The end of the sealing cover 2323 is connected to the transmission rod 2332, and the end of the transmission rod 2332 has a connecting body 235. If there is no connecting body 235, the end of the transmission rod 2332 is connected to the first arm 220.

[0076] As shown in the figure, the second arm 240 is connected to the bottom of the spherical cover 232. Specifically, the bottom of the spherical cover 232 is also provided with a connector 235, which can be inserted into the second arm 240. Similarly, the connector 235 is also provided with a strip hole for adjusting the installation position between the second arm 240 and the transmission mechanism 230.

[0077] In order to make the structure of this device more rationally planned and the space utilization rate higher, a groove 224 is provided on the first arm body 220, and part of the oil pipe 231 is installed in the groove 224. Specifically, the first wall includes the arm body 222 and the arm cover 223. The groove 224 is provided on the arm body 222, and the oil pipe 231 is placed in the groove 224 and then covered by the arm cover 223.

[0078] The device is also equipped with several light strips 160, which are used to provide certain warnings, lighting and easy to find. The light strips 160 can be set on the outside of the first arm 220 and the second arm 240, as well as on the back plate 110. The light strips 160 are also electrically connected to the control main board 123, the controller 132 and the battery 122. In order to improve the comfort of contact between the first arm 220 and the second arm 240 and the quadruped, a protective layer 241 is also provided.

[0079] The workflow of this invention is as follows:

[0080] The backplate 110 is installed on the back of a quadruped animal, such as a pet dog, and the robotic arm 200 is installed on the legs of the quadruped animal. When the pet encounters an emergency outdoors and needs assistance in controlling its behavior, the owner issues a control command. The mainboard 123 then transmits this information to the controller 132. The controller 132 controls the solenoid valve to open the diameter of the oil pipe 231. Under the control of the drive motor, the lubricant in the spherical cover 232 is drawn out and returned to the oil pressure tank 133. This increases the friction between the rotating part and the spherical cover 232, thus preventing the rotating part from rotating inside the spherical cover 232. When in normal use and there is no need to prevent the pet's behavior, the drive motor controls the lubricant in the oil pressure tank 133 to be injected into the spherical cover 232, reducing the friction between the rotating part and the spherical cover 232. This allows the rotating part to rotate freely inside the spherical cover 232, thus not affecting the pet's normal behavior.

[0081] During use, it is operated in conjunction with a remote control. The remote control is electrically connected to the control motherboard 123 and the controller 132. The control motherboard 123 can provide timely feedback on the current position of the animal and the status of its behavior. It also includes a data detection information module, which can provide timely information feedback and processing. The status 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 123 and transmitted to the remote control. 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 power motor 211 and the drive motor are driven, thereby achieving the purpose of reasonably controlling the animal's behavior. The control motherboard 123, speed detector, controller 132 and other components mentioned above can all be purchased directly from the market and will not be elaborated on here.

[0082] The rotating component 210 is driven by a power motor 211, ensuring that its movement is not affected. For example, when the power motor 211 rotates clockwise, the pet's first arm 220 will move forward; when the power motor 211 rotates counterclockwise, the pet's first arm 220 will move backward. This works in conjunction with the transmission mechanism 230 to ensure normal use. When it is necessary to restrain the animal's behavior, the drive motor stops, and lubricating oil is extracted from the spherical cover 232, thus doubly preventing the animal's behavior. This device can assist in restraining the animal's behavior, reducing the possibility of the pet suddenly lunging outdoors, thereby mitigating injuries and accidents.

[0083] The preferred power motor is a PID-controlled motor, which contains a PID frequency converter, regulator, 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.

[0084] 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 hydraulically driven quadrupedal skeletal restraint 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 mechanism (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 also provided with a connecting shaft (213) between it and the first arm body (220), and is hinged through the connecting shaft (213). The planes where the output shaft and the connecting shaft (213) are located are perpendicular. The transmission mechanism (230) includes an oil pipe (231), a spherical cover (232), and a transmission assembly (233). The transmission assembly (233) includes a transmission component and a transmission rod (2332). The transmission component is placed inside the spherical cover (232) and contacts the inner wall of the spherical cover (232). The rod head of the transmission rod (2332) is connected to the first arm body (220), and the end of the spherical cover (232) is connected to the second arm body (240). One end of the oil pipe (231) is connected to the spherical cover (232), and the other end of the oil pipe (231) is connected to a pressure tank (133). The transmission component includes a star-shaped sleeve (2333) sleeved outside the transmission rod (2332), a retainer (2334) sleeved outside the star-shaped sleeve (2333), and a plurality of ball heads (2335) provided on the star-shaped sleeve (2333) and the retainer (2334), the ball heads (2335) contacting the inner wall of the spherical cover (232); The spherical cover (232) also includes a spherical cylinder (2321), on which a sealing cover (2323) is connected, and the head of the transmission rod (2332) extends out of the spherical cover (232); 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 hinge shaft (2124) is also provided between the rotating cylinder (2122) and the rotating body (2123), and the hinge shaft (2124) hinges the rotating cylinder (2122) and the rotating body (2123). The first arm body (220) includes an arm body (222) and an arm cover (223). The arm body (222) has a groove (224) inside, and the oil pipe (231) is partially installed in the groove (224). A connecting body (235) is provided between the rod head of the transmission rod (2332) and the first arm body (220), and the connecting body (235) is connected to the first arm body (220).

2. The hydraulically driven quadrupedal skeletal restraint device according to claim 1, characterized in that, The back panel (110) includes an integrally formed motherboard compartment (120) and accessory compartment (130). The motherboard compartment (120) is provided with a motherboard cavity (121), and the accessory compartment (130) is provided with an accessory cavity (131). The mainboard cavity (121) is provided with a storage battery (122) and a control mainboard (123), and the storage battery (122) is electrically connected to the control mainboard (123); The accessory cavity (131) is equipped with a controller (132) and a hydraulic tank (133). The hydraulic tank (133) is connected to the spherical cover (232) through the oil pipe (231). The controller (132) can control the liquid in the hydraulic tank (133) to be drawn into the spherical cover (232) or drawn back from the spherical cover (232) to the hydraulic tank (133).

3. The hydraulically driven quadrupedal skeletal restraint device according to claim 2, characterized in that, The accessory cavity (131) is also equipped with a control motor (134), which is connected to the oil pressure tank (133) to control the amount of liquid in the oil pressure tank (133).

4. The hydraulically driven quadrupedal skeletal restraint device according to claim 3, characterized in that, The accessory cavity (131) is also provided with a placement plate (135) and an inclined plate (136). The inclined plate (136) is arranged on both sides of the placement plate (135) and forms a "︹" shape with the inclined plate (136). The control motor (134), oil pressure tank (133) and controller (132) are mounted on the placement plate (135).

5. The hydraulically driven quadrupedal skeletal restraint device according to claim 3, characterized in that, A motherboard cover plate (124) is provided above the motherboard cavity (121), and an accessory cover plate (137) is provided above the accessory cavity (131). The accessory cover plate (137) is provided with a ventilation component, which includes several blocks (138) arranged in a stepped manner, with gaps between adjacent blocks (138) to form exhaust holes.

6. The hydraulically driven quadrupedal skeletal restraint device according to any one of claims 1 to 5, characterized in that, The first arm body (220) and the second arm body (240) are respectively provided with protective layers (241), and the second arm body (240) is also provided with leg straps (242), or / and; The harness mechanism (100) is also provided with a protective net pad (140), which is located at the bottom of the back plate (110) and contacts the back of the quadruped. A neck strap (141) is also connected to the protective net pad (140), and a belly strap (150) is also provided on the back plate (110), or / and. LED strips (160) are provided on the back plate (110), the first arm (220), and the second arm (240).

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