Airbag-driven quadruped skeletal restraint device

Abstract

The application provides a kind of air bag driven quadruped skeleton restraint device, relating to the technical field of pet harness, including harness mechanism and mechanical arm;Harness mechanism includes backplate;Mechanical arm includes rotation assembly, first arm body, transmission mechanism and second arm body connected in turn, first arm body is connected with backplate by rotation assembly, rotation assembly includes power motor and rotating body, the output shaft of power motor is rotatably connected with one end of rotating body, the other end of rotating body is hinged between first arm body and is hinged by connecting shaft;Transmission mechanism includes first transmission rod, hinged shaft and second transmission rod, first transmission rod and second transmission rod are hinged by hinged shaft, first transmission rod and first arm body are further provided with adapter shaft and are hinged by adapter shaft, first arm body is further provided with air bag piece, air bag piece is arranged on the two sides of adapter shaft, air bag piece is connected with air bag tank, air bag piece can prevent first transmission rod from rotating around adapter shaft after inflation.

Description

Technical Field

[0001] This invention relates to the technical field of pet harnesses, and more specifically, to an airbag-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 on the market include explosion-proof leashes and positioning aids. Explosion-proof leashes work by creating a suffocating sensation around the animal's neck, serving as a warning. However, improper use of these products can 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 an airbag-driven quadrupedal skeletal restraint device to achieve the technical effect of assisting in restraining animal behavior.

[0006] 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;

[0007] 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 hinged to the first arm body via a connecting shaft. The planes containing the output shaft and the connecting shaft are perpendicular.

[0008] The transmission mechanism includes a first transmission rod, a hinge shaft, and a second transmission rod. The first transmission rod and the second transmission rod are hinged together by the hinge shaft. A transition shaft is also provided between the first transmission rod and the first arm body, and the first arm body is hinged together by the transition shaft. An airbag is also provided on the first arm body. The airbag is located on both sides of the transition shaft and is connected to an airbag canister. When the airbag is inflated, it can prevent the first transmission rod from rotating around the transition shaft. The plane containing the hinge shaft and the transition shaft is perpendicular.

[0009] 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 rotating shaft is also provided between the rotating body and the rotating cylinder, and the rotating body is hinged to the rotating cylinder through the rotating shaft.

[0010] To better realize the present invention, the first arm body is further provided with a strip-shaped long groove at one end, a movable part is provided in the strip-shaped long groove, and a connecting shaft is provided between the movable part and the rotating body, and the two parts are hinged through the connecting shaft.

[0011] To better realize the present invention, the planes in which the rotation axis, the hinge axis and the connecting axis are located are parallel or coincident.

[0012] To better realize the present invention, the back plate further includes an integrally formed main board compartment and an accessory compartment. The main board compartment is provided with a main board cavity, and the accessory compartment is provided with an accessory cavity. The main board cavity is provided with a control main board and a battery electrically connected to the control main board. The accessory cavity is provided with a controller and an airbag canister. The controller is electrically connected to the control main board and the airbag canister respectively. The accessory cavity is also provided with a control motor, and the control motor is connected to the airbag canister.

[0013] To better realize the present invention, a motherboard cover plate is further provided above the motherboard cavity, and an accessory cover plate is further provided above the accessory cavity. An exhaust assembly is further provided on the accessory cover plate. The exhaust assembly includes multiple blocks, which are arranged in a stepped manner, and gaps are left between adjacent blocks to form exhaust holes.

[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 arranged on both sides of the placement plate. The inclined plate and the placement plate are combined to form a "︹" shape. The control motor, the airbag canister and the controller are mounted on the placement plate. The circuits of the controller and the control motherboard are arranged on the inclined plate.

[0015] To better realize the present invention, the first arm body further includes an arm body and an arm cover plate. The arm body is provided with a groove, and a hose for gas delivery is provided between the airbag component and the airbag canister. The airbag component and the hose are both disposed in the groove, and the arm cover plate is disposed on the arm body.

[0016] To better realize the present invention, the arm body is further provided with a notch at one end near the transmission mechanism, the first transmission rod of the transmission mechanism is disposed in the notch, the arm body is provided with a through hole, and the airbag is filled with gas and can pass through the through hole and be disposed on both sides of the connecting shaft.

[0017] 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;

[0018] The harness mechanism is also equipped 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 is also provided on the back plate.

[0019] LED strips are provided on the back plate, the first arm, and the second arm.

[0020] The beneficial effects of this invention are:

[0021] This invention involves attaching a harness mechanism and a robotic arm to the back and legs of a quadruped, respectively. When the quadruped's behavior needs to be restrained, the controller switches the airbag, and under the control of the motor, gas is filled into the airbag via a hose. After filling, the airbag is positioned on both sides of a connecting shaft, preventing the first transmission rod from rotating normally around the shaft, thus preventing the second arm from moving back and forth. The second arm connects to the quadruped's legs, providing some leg restraint. When the quadruped is startled and lunges, the control board issues corresponding commands and executes the appropriate program, thus restraining the quadruped's behavior and reducing unnecessary harm. When restraint is not needed, the control board again issues and executes corresponding commands, causing the airbag to retract into the groove of the first arm, thus allowing the first transmission rod to rotate around the connecting shaft and maintaining the multi-angle, multi-directional rotation between the first and second arms. This ingeniously designed device effectively controls animal behavior, reduces lunging incidents, and minimizes harm to the animal during the control process. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is a schematic diagram of the airbag-driven quadrupedal skeletal restraint device provided by the present invention.

[0024] Figure 2 A partial structural schematic diagram of the airbag-driven quadrupedal skeletal restraint device provided by the present invention;

[0025] Figure 3 An exploded view of the airbag-driven quadrupedal skeletal restraint device provided by the present invention.

[0026] Figure 4 This is a schematic diagram of the structure of the shoulder strap mechanism provided by the present invention;

[0027] Figure 5 An exploded view of the strap mechanism provided by the present invention;

[0028] Figure 6 This is a schematic diagram of the exhaust assembly provided by the present invention;

[0029] Figure 7 This is a schematic diagram of the structure of the rotating assembly provided by the present invention;

[0030] Figure 8 An exploded view of the rotating assembly provided by the present invention;

[0031] Figure 9 A partial structural diagram of the robotic arm provided by the present invention. Figure 1 ;

[0032] Figure 10 A partial structural diagram of the robotic arm provided by the present invention. Figure 2 ;

[0033] Figure 11 Partial explosion diagram of the robotic arm provided by the present invention Figure 1 ;

[0034] Figure 12 Partial explosion diagram of the robotic arm provided by the present invention Figure 2 ;

[0035] Figure 13 This is a reference diagram showing the usage state of the present invention.

[0036] icon:

[0037] 100-Shoulder strap mechanism, 110-Backplate, 111-Main board compartment, 112-Accessory compartment, 113-Main board cavity, 114-Accessory cavity, 115-Control main board, 116-Battery, 117-Controller, 118-Airbag canister, 119-Control motor, 120-Main board cover, 121-Accessory cover, 122-Plate, 123-Placement plate, 124-Slope plate, 125-Abdominal belt, 130-Protective net padding, 131-Neck belt, 200-Robotic arm, 210-Rotating assembly, 211-Power motor, 212-Rotating body 2121-Mounting plate, 2122-Rotating drum, 2123-Rotating body, 2124-Rotating shaft, 213-Connecting shaft, 220-First arm body, 221-Airbag component, 222-Moving component, 223-Arm body, 224-Arm cover plate, 225-Groove, 226-Hose, 227-Perforation, 228-Notch, 230-Transmission mechanism, 231-First transmission rod, 232-Hinge shaft, 233-Second transmission rod, 234-Adapter shaft, 240-Second arm body, 241-Protective layer, 242-Light strip, 243-Leg strap. Detailed Implementation

[0038] The technical solutions of the present invention will now be described with reference to the accompanying drawings.

[0039] 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.

[0040] Please refer to Figures 1-12 ,

[0041] This invention provides an airbag-driven quadrupedal skeletal restraint device. Existing technologies cannot restrain the behavior of quadrupedal animals in a timely manner, causing unnecessary accidental injuries. To solve the above-mentioned technical problems, this invention sets up a harness mechanism 100 and a robotic arm 200 to achieve the purpose of assisting in restraining the behavior of quadrupedal animals and improve safety.

[0042] The airbag-driven quadrupedal skeletal restraint device is described in detail below, mainly including a harness mechanism 100 and a robotic arm 200. There are four robotic arms 200, which are located on the four legs of the quadruped, while the harness mechanism 100 is located on the back of the quadruped. The quadruped is a dog as an example.

[0043] 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 130 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 130 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 131 is provided on the protective net pad 130, and an abdominal strap 125 is provided on the back plate 110 near the abdomen of the quadruped. Through the combined action of the neck strap 131 and the abdominal strap 125, 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 131 and the abdominal band 125 are adjustable retractable bands, making them suitable for tetrapods of different sizes.

[0044] The backplate 110 includes an integrally formed mainboard compartment 111 and accessory compartment 112. The mainboard compartment 111 corresponds to the neck of the quadruped, and the accessory compartment 112 corresponds to the back of the quadruped. The mainboard compartment 111 has a mainboard cavity 113 for housing the control mainboard 115 and battery 116, etc. Additionally, a mounting base is provided on the mainboard compartment 111, which also houses a speaker and a camera. Both the speaker and camera are electrically connected to the battery 116 and the control mainboard 115, enabling them to function properly. (See figure.) The mounting bases are located on both sides of the motherboard cavity 113. The advantage of this arrangement is that it is positioned at the ears of the quadruped, so that the quadruped can receive the owner's voice more promptly. The control motherboard 115 has multiple structures, such as a built-in GPS locator, Bluetooth chip, and E-SIM card slot, which can be connected to the network for real-time positioning and data uploading. It can also be electrically connected to the controller of the robotic arm 200 for recording and controlling the robotic arm 200. The control motherboard 115 can be synthesized from existing products on the market, and its structure will not be described in detail here.

[0045] The accessory compartment 112 is provided with an accessory cavity 114, which contains multiple accessories, including a control motor 119, an airbag canister 118, and a controller 117. The controller 117 is electrically connected to the control main board 115, and can also be electrically connected to the airbag canister 118 and the control motor 119. The controller 117 can open and close the airbag canister 118. In addition, the accessory compartment 112 is also provided with connecting wiring, etc.

[0046] To make the installation layout of multiple components in the component cavity 114 more reasonable and the wiring smoother, a placement plate 123 and a ramp 124 are also provided in the component cavity 114. There are two ramps 124, which are placed on both sides of the placement plate 123, forming a "︹" shape. The control motor 119, airbag canister 118 and controller 117 are placed on the placement plate 123, and the connecting wires are installed on the ramp 124. 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.

[0047] The accessory cavity 114 contains numerous devices that require heat dissipation during use. The exhaust assembly is located on the accessory cover plate 121. The placement of this plate 123 shortens the distance between the accessory and the exhaust assembly, thus facilitating heat dissipation. In addition, the exhaust assembly is composed of multiple plates 122 arranged in a stepped manner, with gaps between adjacent plates forming exhaust holes. This structure is similar to that of fish gills, and the exhaust and ventilation structure of fish gills allows for faster airflow within the accessory cavity 114, reducing unnecessary damage to the devices inside the accessory cavity 114 caused by high temperatures.

[0048] 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 mechanism 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 mechanism 230 both provide multi-angle and multi-directional rotation, similar to a joint, which facilitates coordination with the behavior of quadrupedal animals.

[0049] The rotating assembly 210, as shown in the figure, mainly includes a power motor 211 and a rotating body 212. Driven by the power motor 211, the rotating body 212 can rotate in a corresponding manner. The rotating body 212 in turn drives the first arm 220. In addition, the first arm 220 and the rotating body 212 are hinged by a connecting shaft 213, which also enables rotation in multiple angles and directions.

[0050] 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 rotating shaft 2124. Under the action of the rotating shaft 2124, the rotating body 2123 can have multi-angle and multi-directional adjustment. 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 rotating 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 rotating shaft 2124 and the connecting shaft 213, it can achieve multi-level adjustment, which makes it more adaptable to quadrupeds. This design is more humanized. As shown in the figure, only the connecting shaft 213 is set, but the connecting shaft 234 is not set. This setting will cause some interference when the quadruped moves, and has disadvantages such as lower flexibility and poor adaptability.

[0051] The specific connection between the rotating body 2123 and the first arm 220 is as follows: a long strip groove is provided at one end of the first arm 220, and a movable part 222 is provided in the long strip groove. The movable part 222 can move in the long strip groove, so that the installation position of the first arm 220 is adjustable, thereby improving the range of use. The movable part 222 is hinged to the rotating body 2123 through the connecting shaft 213, thereby achieving the purpose of multi-level flexible movement.

[0052] In order to enable the first arm 220 to move in multiple angles and directions, the output shaft of the power motor 211 is perpendicular to the plane of the connecting shaft 213, and the rotating shaft 2124 is parallel to or coincides with the plane of the connecting shaft 213.

[0053] The transmission mechanism 230, as shown in the figure, mainly includes a first transmission rod 231, a hinge shaft 232, and a second transmission rod 233. The first transmission rod 231 and the second transmission rod 233 are hinged together by the hinge shaft 232, allowing them to rotate relative to each other. In addition, the first transmission rod 231 is also connected to the first arm 220, specifically by a hinge shaft 234. The plane of the hinge shaft 234 is perpendicular to the plane of the hinge shaft 232. Under the action of the hinge shaft 234, the transmission mechanism 230 can move left and right, similar to the forward and backward movement of a pet. Under the action of the hinge shaft 232, the first arm 220 and the second arm 240 can move up and down.

[0054] The first arm body 220 is also provided with an airbag component 221, which is located on both sides of the adapter shaft 234. As shown in the figure, the airbag component 221 is connected to the airbag tube in the accessory cavity 114 of the shoulder strap through the airbag hose 226. After filling the airbag component 221 with gas, it is placed on both sides of the adapter shaft 234, so that there is no space for rotation on both sides of the adapter shaft 234, thereby controlling the transmission mechanism 230 to not rotate around the adapter shaft 234.

[0055] As shown in the figure, to facilitate the installation of its airbag component 221 and hose 226, the structure of its first arm body 220 has been further optimized. The first arm body 220 includes an arm body 223 and an arm cover plate 224. The arm body 223 has a notch 228 at one end facing the transmission mechanism 230, which is concave. The opening of the notch 228 faces the transmission mechanism 230, and the end of the first transmission rod 231 is disposed within the notch 228. Additionally, a groove 225 is provided inside the arm body 223, and the hose 226 and airbag component 221 are both installed within the groove 225. On both sides of the adapter shaft 234, there are perforations 227 on the arm body 223. The airbag component 221 is installed above the perforations 227. When the airbag component 221 is filled with gas, it can be placed on both sides of the adapter shaft 234 after the airbag component 221 is inflated, thereby preventing the first transmission rod 231 from rotating. When it is not necessary to prevent the first transmission rod 231 from rotating, the gas in the airbag component 221 can be extracted. After the airbag component 221 is extracted, it can retract into the groove 225 of the first arm body 220 without affecting the normal use of the first transmission rod 231.

[0056] The structure of the airbag component 221 is cleverly designed. When needed, it can inflate to both sides of the first transmission rod 231. When not needed, it can retract into the groove 225 of the first arm body 220, so that it can be freely extended and retracted without affecting normal operation. The airbags can restrain each other without interfering with each other.

[0057] To make the interaction between the device and the quadruped animal more comfortable, protective layers 241 are provided on the first arm 220 and the second arm 240 respectively. At the same time, to facilitate the installation of the robotic arm 200 on the quadruped animal's legs, leg straps 243 are also provided.

[0058] To facilitate raising the warning line and finding animals at night, light strips 242 are also installed on the back panel 110, the first arm 220 and the second arm 240.

[0059] The workflow of this invention is as follows:

[0060] The harness mechanism 100 and the robotic arm 200 are respectively worn on the back and legs of the quadruped. When it is necessary to restrain the behavior of the quadruped, the controller 117 switches the airbag, and under the action of the control motor 119, gas is filled into the airbag component 221 through the hose 226. After the airbag component 221 is filled, it is placed on both sides of the adapter shaft 234, so that the first transmission rod 231 cannot rotate normally around the adapter shaft 234, that is, the second arm 240 cannot move back and forth. The second arm 240 is connected to the legs of the quadruped, thus playing a certain role in leg restraint. When the quadruped is frightened and lunges, the control motherboard 115 issues corresponding commands and executes corresponding programs, which can restrain the behavior of the quadruped and reduce unnecessary harm.

[0061] When there is no need to constrain its behavior, the corresponding commands are issued and executed by the control motherboard 115 to retract the airbag component 221 into the groove 225 of the first arm body 220, thereby not preventing the first transmission rod 231 from rotating around the adapter shaft 234, thus not affecting the multi-angle and multi-directional rotation between the first arm body 220 and the second arm body 240.

[0062] During use, it is operated in conjunction with a remote control. The remote control is electrically connected to the control motherboard and controller. The control motherboard can provide timely feedback on the animal's current location and behavioral status. It also includes a data detection information module, which can provide timely information feedback and processing. The animal's behavioral status is detected by a speed detector, which can be installed on the robotic arm. The detected information is processed on the control motherboard and transmitted to the remote control. The owner receives the corresponding information and issues commands, which are executed by the controller. Under the control of the controller, the drive motor and control motor are driven, thereby achieving the purpose of reasonably controlling the animal's behavior. The control motherboard, speed detector, controller and other components mentioned above can all be purchased directly from the market and will not be elaborated on further here.

[0063] The power motor provided by this invention is preferably a PID-controlled motor, which contains a PID frequency converter, regulator, etc. When it is necessary to adjust the behavior of a quadruped, the PID-controlled motor can control and adjust the motor direction in the forward direction, etc. 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 quadrupeds and thus not affect the normal movement of quadrupeds. The PID controller is existing technology, and this control method will not be described in detail here.

[0064] 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. An air bag driven quadruped skeleton restraint device, characterized in that, It comprises a harness mechanism (100) for wearing on the back of a quadruped and a mechanical arm (200) for driving the behavior of the quadruped; the harness mechanism (100) comprises a back plate (110) that fits the back of the quadruped; The mechanical arm (200) comprises a rotating assembly (210), a first arm body (220), a transmission mechanism (230) and a second arm body (240) connected in turn, the first arm body (220) is connected between the back plate (110) through the rotating assembly (210), the rotating assembly (210) comprises a power motor (211) and a rotating body (212), the output shaft of the power motor (211) is rotatably connected with one end of the rotating body (212), the other end of the rotating body (212) is hinged with the first arm body (220) through a connecting shaft (213), and the output shaft and the connecting shaft (213) are perpendicular to each other; The transmission mechanism (230) comprises a first transmission rod (231), a hinge shaft (232) and a second transmission rod (233), the first transmission rod (231) and the second transmission rod (233) are hinged through the hinge shaft (232), the first transmission rod (231) is further hinged with the first arm body (220) through a transfer shaft (234), the first arm body (220) is further provided with an air bag piece (221), the air bag piece (221) is arranged on both sides of the transfer shaft (234), the air bag piece (221) is connected with an air bag tank (118), after the air bag piece (221) is inflated, it is placed on both sides of the transfer shaft (234), which can prevent the first transmission rod (231) from rotating around the transfer shaft (234), the hinge shaft (232) and the transfer shaft (234) are perpendicular to each other; The rotating body (212) comprises 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 arranged in the rotating cylinder (2122) and is in transmission connection with the rotating cylinder (2122), the outer wall of the rotating cylinder (2122) is further provided with a rotating body (2123), the rotating body (2123) is Y-shaped, one end of the rotating body (2123) is further provided with a rotating shaft (2124) between the rotating cylinder (2122), the rotating body (2123) is hinged with the rotating cylinder (2122) through the rotating shaft (2124); so that the rotating body (2123) can have multi-angle and multi-direction adjustment.

2. The air bag driven quadruped skeleton restraint device according to claim 1, characterized in that, The first arm body (220) is provided with a strip-shaped long slot at one end, and a movable element (222) is arranged in the strip-shaped long slot, and a connecting shaft (213) is further arranged between the movable element (222) and the rotating shaft (2123), and the movable element (222) is hinged through the connecting shaft (213).

3. The airbag-driven quadruped skeleton restraint device according to claim 2, wherein, The rotating shaft (2124), the hinged shaft (232) and the connecting shaft (213) are parallel or coincident.

4. The airbag-driven quadruped skeleton restraint device according to claim 1, wherein, The back plate (110) comprises an integral main plate cabin (111) and an accessory cabin (112), the main plate cabin (111) is provided with a main plate cavity (113), the accessory cabin (112) is provided with an accessory cavity (114), the main plate cavity (113) is provided with a control main plate (115) and a storage battery (116) electrically connected with the control main plate (115), the accessory cavity (114) is provided with a controller (117) and an airbag tank (118), the controller (117) is electrically connected with the control main plate (115) and the airbag tank (118) respectively, and the accessory cavity (114) is further provided with a control motor (119), and the control motor (119) is connected with the airbag tank (118).

5. The airbag-driven quadruped skeleton restraint device according to claim 4, wherein, The main plate cavity (113) is further provided with a main plate cover plate (120), the accessory cavity (114) is further provided with an accessory cover plate (121), the accessory cover plate (121) is further provided with an exhaust assembly, the exhaust assembly comprises a plurality of block plates (122), the plurality of block plates (122) are arranged in a stepped manner, and gaps are left between adjacent block plates (122) to form exhaust holes.

6. The airbag-driven quadruped skeleton restraint device according to claim 5, wherein, The accessory cavity (114) is provided with a placement plate (123) and an inclined plate (124), the inclined plate (124) is arranged on both sides of the placement plate (123), the inclined plate (124) and the placement plate (123) are combined to form a "︹" shape, the control motor (119), the airbag tank (118) and the controller (117) are installed on the placement plate (123), and the lines of the controller (117) and the control main plate (115) are arranged on the inclined plate (124).

7. The airbag-driven quadruped skeleton restraint device according to claim 6, wherein, The first arm body (220) comprises an arm body (223) and an arm cover plate (224), the arm body (223) is provided with a recess (225), a hose (226) for gas delivery is further arranged between the airbag element (221) and the airbag tank (118), the airbag element (221) and the hose (226) are arranged in the recess (225), and the arm cover plate (224) is arranged on the arm body (223).

8. The air bag driven quadruped skeleton restraint device according to claim 7, characterized in that, one end of the arm body (223) close to the transmission mechanism (230) is also provided with a notch (228), the first transmission rod (231) of the transmission mechanism (230) is arranged in the notch (228), the arm body (223) is provided with a perforation (227), and the air bag (221) can pass through the perforation (227) and be arranged on both sides of the connecting shaft (213) after being filled with gas.

9. The air bag driven quadruped skeleton restraint device according to claim 8, characterized in that, the first arm body (220) and the second arm body (240) are respectively provided with a protective layer (241), and the second arm body (240) is also provided with a leg belt (243); the harness mechanism (100) is also provided with a protective mesh pad layer (130), the protective mesh pad layer (130) is arranged at the bottom of the back plate (110) and contacts the back of the quadruped, the protective mesh pad layer (130) is also connected with a neck belt (131), and the back plate (110) is also provided with a belly belt (125); the back plate (110), the first arm body (220) and the second arm body (240) are all provided with a lamp strip (242).

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