Intelligent bionic mechanical hedgehog

Abstract

The invention discloses an intelligent bionic mechanical hedgehog. A controller is arranged on the frame body; the spine assembly is fixedly connected with the frame body and located above the frame body; a head assembly; a forelimb assembly; a caudal vertebra assembly; a posterior limb assembly; a controller; according to the head, double-drive equipment is adopted to be matched with multiple sets of connecting pieces, and up-and-down rotation, left-and-right head turning and multi-angle fine adjustment can be achieved; the four limbs are independently controlled through double motors and a plurality of groups of hinged structures, so that complex actions such as soil digging, creeping and jumping can be completed; the caudal vertebra is composed of a plurality of hinged assemblies and can be bent synchronously along with curling of the body. Through cooperation of multiple driving modes, the equipment can accurately repeat various motion postures of a real hedgehog, the motion is smooth and natural, and no mechanical lagging feeling exists. Moreover, the spine assembly is designed according to a real hedgehog spine curve, the section number and the connection mode of the caudal vertebra assembly fit biological physiological characteristics, and the arrangement of four limbs in bilateral symmetry is matched, so that the stability of the gravity center during overall movement is ensured, and single-side inclination is avoided.

Description

Technical Field

[0001] This invention relates to the field of bionic machinery, specifically to an intelligent bionic mechanical hedgehog. Background Technology

[0002] In the field of biomimetic mechanics, the core value of biomimetic animal products lies in the high degree of fidelity in replicating biological morphology and movement characteristics, as well as the deep adaptation of intelligent functions to practical scenarios. However, current biomimetic mechanical animals on the market, especially those targeting species with special physiological structures such as hedgehogs (e.g., curled-up defense, multi-jointed limb movement), generally face three major technological bottlenecks:

[0003] First, the biomimetic accuracy of the movements is low. Most products use only a single drive motor or a simple linkage structure for key moving parts such as the head, limbs, and tailbone. This only enables basic oscillations in one direction (such as head turning up and down, and limbs extending and retracting), and cannot simulate the complex movements of a real hedgehog—for example, the head simultaneously lifting, turning, and fine-tuning; the limbs coordinating to dig, crawl, and jump; and the tailbone bending synchronously with the body's curling. Some products even omit the biomimetic design of the spinal component, resulting in a lack of biologically unique "curve coordination" during overall movement. The movements are stiff and mechanical, making it difficult to meet the high-fidelity requirements of scientific research, teaching, and interactive displays.

[0004] Secondly, there is a lack of intelligence and autonomy. Existing products mostly rely on a single remote control mode, only supporting simple action commands sent via remote control or mobile phone, lacking autonomous sensing and feedback mechanisms. For example, when encountering obstacles, they cannot autonomously avoid them; when touched by external objects, they cannot simulate a hedgehog's instinctive curl-up defense, requiring manual operation from the user. This reduces ease of use and defeats the core value of biomimetic machinery in "simulating biological instincts." Furthermore, the remote communication modules of some products have poor compatibility, supporting only a single connection method (such as Bluetooth only), and the signal stability is insufficient, easily leading to command delays or interruptions in complex environments.

[0005] Thirdly, there are defects in structural design and transmission stability. On the one hand, the component connection structure is unreasonable. For example, using rigid fixed connections instead of flexible hinges can easily cause jamming during movement; or using ordinary circular output ends with circular hole connections can easily cause displacement during sliding, affecting the accuracy of movement. On the other hand, the overall structural symmetry design is unbalanced. Some products, in order to simplify the process, only achieve "appearance symmetry," but the power and installation position of key drive components (such as the four-limb motors) are inconsistent, causing the center of gravity to shift during movement, resulting in problems such as unilateral tilting and bumpy walking. In addition, most products lack protective structures for internal components, and the outside is simply covered with a plastic shell, which cannot reproduce the physiological characteristics of a hedgehog such as fur and spines, nor can it protect internal sensors, motors and other components from external impact damage.

[0006] Fourth, the adaptability of functions to different scenarios is weak. Existing products mostly focus on "sports functions" and neglect the expansion of practical scenarios. For example, they lack night lighting functions and cannot be used in low-light environments; they do not integrate video capture modules, making it difficult to meet the needs of scientific research observation, home monitoring, etc.; the bionic appearance only stays at the level of "similar in shape" and does not improve the "lifelike" effect through materials (such as flexible bionic skin) and details (such as simulated head organs), resulting in applicable scenarios being limited to children's toys and unable to cover mid-to-high-end fields such as scientific research, education, and exhibition.

[0007] Therefore, it is essential to propose an intelligent bionic mechanical hedgehog. Summary of the Invention

[0008] The purpose of this invention is to provide an intelligent bionic mechanical hedgehog, which makes the hedgehog's movements smoother and its shape more realistic, achieving a more lifelike and intelligent hedgehog bionic design, in order to solve the existing technical defects and unmet technical requirements.

[0009] To achieve the above objectives, the present invention provides the following technical solution: an intelligent bionic mechanical hedgehog, comprising:

[0010] A frame, on which a controller is installed;

[0011] A spine assembly, which is fixedly connected to the frame and located above the frame;

[0012] The head assembly includes at least a headpiece, a first head drive device, and a second head drive device. One end of the first head drive device is connected to a first spine assembly, and the other end is connected to the headpiece. One end of the second head drive device is connected to a frame, and the other end is connected to the headpiece. The headpiece is located in front of the first spine assembly and the frame.

[0013] A forelimb assembly, the forelimb assembly including at least a first moving component and a forelimb driving device, one end of the forelimb driving device being connected to the frame and the other end being connected to the first moving component, located on both sides of a second head driving device;

[0014] The coccyx assembly includes at least a coccyx component and a coccyx drive device. One end of the coccyx drive device is connected to the frame, and the other end is connected to the coccyx component. The coccyx component is connected to the end of the spine assembly away from the head component and is located above the coccyx drive device.

[0015] The hind limb assembly includes at least a second moving component and a hind limb driving device, one end of which is connected to the caudal vertebrae and located below the caudal vertebrae, and the other end is connected to the second moving component.

[0016] The controller is electrically connected to each drive device and is used to control the operation of each drive device, thereby completing the operation of the overall device.

[0017] In this application, it is necessary to further explain that the controller is equipped with at least a remote communication module, such as wireless communication, network communication, Bluetooth, etc., and also with a remote control device, such as a remote control, computer, mobile phone, etc., for remote control of the bionic hedgehog.

[0018] Furthermore, the headpiece (i.e., the head) in this application is also biomimetic, that is, the eyes, mouth, nose, ears, mouth and other organs are biomimeticly reproduced on the headpiece. Therefore, the sensors and other devices used to be installed on the headpiece can be installed accordingly.

[0019] Furthermore, the method in this application specifies that the direction of the head relative to the frame is forward (in the original state of the head, the definition of forward does not change with the rotation of the head), and the direction of the end of the tailbone relative to the frame is backward. Similarly, the definition of direction does not change with the movement of the end of the tailbone, with the ground as down and the sky as up.

[0020] Preferably, the head assembly includes:

[0021] A first head drive device is fixed to the front end of the spinal assembly, and its output end extends downward toward the spinal assembly.

[0022] The first connector includes a first connecting part and a second connecting part. The first connecting part is connected to the output end of the first head drive device, and the two rotate synchronously. The second connecting part is connected to the head piece. The first connecting part and the second connecting part are rotatably connected, and the rotation axis of the two relative to each other extends in the horizontal direction, so that the head piece can complete up and down rotation.

[0023] The second connector includes a ball head groove and a ball head rod. The ball head groove is disposed on the head piece and located below the second connecting part. One end of the ball head rod is rotatably connected to the ball head groove, and the other end is provided with a first connecting hole.

[0024] The third connector has a second connecting hole and a first connecting post. The second connecting hole is located on one side of the third connector, and the first connecting post is located on the end of the third connector away from the second connecting hole and is fitted into the first connecting hole.

[0025] The second head drive device is connected to the frame via a fourth connector and is located between the frame and the spine assembly. A guide portion is provided on the output end of the second head drive device, and an abutment portion is provided on the wall of the second connecting hole. The second connecting hole is sleeved outside the output end of the second head drive device, and the two rotate synchronously. The abutment portion and the guide portion abut against each other and are slidably connected, so that the second connecting hole and the output end of the second head drive device can slide relative to each other.

[0026] In this application, it should be further clarified that the "rotation axis extending horizontally" mentioned above refers to the left-right direction of the horizontal plane, that is, on the horizontal plane, approximately or completely perpendicular to the length direction of the vertebral and coccygeal vertebrae, and does not change with the movement of the coccygeal vertebrae. Furthermore, the overall structure of the application can be left-right symmetrical. This left-right symmetry is not limited to traditional left-right symmetry, which means that the layout, content, and position of the left and right sides are identical. However, the left-right symmetry in this application means that components present on the left side are also present on the right side, without being limited to identical layout and position.

[0027] Preferably, the forelimb assembly includes:

[0028] A forelimb drive device, which is mounted on a frame, includes a first forelimb drive motor and a second forelimb drive motor. The second forelimb drive motor is located behind the first forelimb drive motor, and the output ends of both motors extend to the side of the frame.

[0029] The fifth connector includes a third connecting part, a fourth connecting part, a fifth connecting part, and a sixth connecting part. One end of the third connecting part is sleeved on the output end of the first forelimb drive motor, and the two rotate synchronously. The other end is hinged to the fourth connecting part. The upper end of the fifth connecting part is sleeved outside the output end of the first forelimb drive motor, and the two are rotatably connected. The lower ends of the fourth and fifth connecting parts (i.e., the ends away from the first forelimb drive motor) are both hinged to the sixth connecting part, and the fourth connecting part is located in front of the fifth connecting part. The end of the sixth connecting part away from the fifth connecting part extends forward and contacts the ground.

[0030] The sixth connector includes a seventh connector, an eighth connector, and a ninth connector. One end of the seventh connector is sleeved on the output end of the second forelimb drive motor, and the two rotate synchronously. The other end is hinged to the middle position of the eighth connector. One end of the ninth connector is connected to the lower end of the eighth connector, and the two always maintain the same angle (no relative rotation). The other end extends forward and is hinged to the middle of the fifth connector.

[0031] Preferably, the coccyx assembly includes:

[0032] The coccygeal component is composed of several coccygeal segments that are hinged together. One end of the coccygeal component is connected to the rear end of the vertebral assembly, and the other end bends downward and extends downward. This end can only bend downward.

[0033] The first rib is evenly distributed along the length of the caudal vertebrae, with one end connected to several caudal vertebrae and the other end extending to the side of the caudal vertebrae.

[0034] A tailbone drive device is located on the frame, behind the second head drive device, and its output end extends to the side of the frame.

[0035] The eighth connector includes a tenth connector and an eleventh connector. One end of the tenth connector is connected to the output end of the tail cone drive device, and the two rotate synchronously. The other end extends to the rear of the frame and is hinged to the eleventh connector. The end of the eleventh connector away from the tenth connector is hinged to the tail cone.

[0036] After the tailbone retracts, the radius of curvature at its front end is greater than the radius of curvature at its rear end.

[0037] In this application, it is necessary to further explain that the meaning of "this end can only bend downwards" in the above text is not that it can only move downwards, but that the bending direction is downwards. This is because the coccyx assembly is different from the vertebral assembly. Although the vertebral assembly is also curved, it is fixed, while the coccyx assembly can change the curvature of the bend up and down, but it is always bending downwards, and the opening of the curved surface always faces downwards.

[0038] Preferably, the hind limb assembly includes:

[0039] A support frame, which is connected to the tailbone and located below the tailbone, is used to install the hind limb drive device;

[0040] The hind limb drive device includes a first hind limb drive motor and a second hind limb drive motor, the second hind limb drive motor being located behind the first hind limb drive motor, and the output ends of both extending to the side of the support frame.

[0041] The ninth connector includes a twelfth, thirteenth, fourteenth, and fifteenth connecting part. One end of the twelfth connecting part is sleeved on the first hind limb drive motor, and the two rotate synchronously. The other end is hinged to the thirteenth connecting part. One end of the fourteenth connecting part is sleeved on the output end of the first hind limb drive motor, and the two are rotatably connected. The lower ends of the thirteenth and fourteenth connecting parts are both hinged to the fifteenth connecting part. The thirteenth connecting part is located in front of the fourteenth connecting part. The end of the fifteenth connecting part away from the thirteenth connecting part extends rearward and contacts the ground.

[0042] The tenth connector includes a sixteenth connector and a seventeenth connector. One end of the sixteenth connector is sleeved on the output end of the second hind limb drive motor, and the two rotate synchronously. One end of the seventeenth connector is hinged to the sixteenth connector, and the other end extends forward and is hinged to the middle of the fourteenth connector.

[0043] Preferably, the spinal assembly includes:

[0044] A vertebral component, which is composed of several vertebral segments fixedly connected together, with its front end bent downwards;

[0045] The second rib is evenly distributed along the length of the vertebral segment, with one end connected to several vertebral segments and the other end extending laterally to the vertebral segments.

[0046] The eleventh connector has one end connected to the second rib and the other end connected to the frame.

[0047] Preferably, the coccygeal segment comprises:

[0048] The first coccygeal segment, one end of which is fixedly connected to the vertebral segment;

[0049] The other end is hinged to the second caudal vertebral segment, or the other end is hinged to the third caudal vertebral segment;

[0050] The second caudal vertebral segment, one end of which is hinged to the first caudal vertebral segment, or to another second caudal vertebral segment, or to the third caudal vertebral segment;

[0051] The other end is hinged to another second caudal vertebra, or the other end is hinged to a third caudal vertebra, or the other end is hinged to a fourth caudal vertebra.

[0052] The third caudal vertebral segment, one end of which is hinged to the second caudal vertebral segment and the other end of which is hinged to the second caudal vertebral segment, or the other end of which is hinged to the fourth caudal vertebral segment, is connected to a support frame below.

[0053] The fourth caudal vertebra is hinged at one end to the second caudal vertebra or the third caudal vertebra, and at the other end to the eleventh connecting part.

[0054] A torsion spring is provided at the hinge position between two adjacent tail vertebrae, and its two ends abut against the two connected tail vertebrae respectively. The elasticity of the torsion spring on the tail vertebra decreases from front to back.

[0055] Preferably, one end of the sixth connecting part is a first hinge end and the other end is a first support end. The first hinge end is hinged to the lower end of the fourth connecting part at a first location and to the lower end of the fifth connecting part at a second location. The first location is located between the second location and the support end, and is located on the sixth connecting part closer to the second location. A claw is provided below the first support end.

[0056] One end of the fifteenth connecting part is the second hinge end, and the other end extends backward, then bends downward and extends to form the second support end. The second hinge end is hinged to the lower end of the thirteenth connecting part at the third point, and to the lower end of the fourteenth connecting part at the fourth point. The third point is located between the fourth point and the second support end, and is located on the fifteenth connecting part closer to the fourth point.

[0057] Preferably, the frame is further provided with:

[0058] The first transmission groove is formed on the upper end face of the frame and has an opening on the front end face of the frame to provide transmission space for the ball joint and the third connector.

[0059] The second transmission groove is formed on the upper end face of the frame and has an opening on the rear end face of the frame. It is located behind the first transmission groove and on both sides of the first transmission groove, and is used to provide rotation space for the tenth connecting part.

[0060] Preferred options also include:

[0061] The mesh covers the spine assembly and the coccyx assembly, and is covered with a bionic outer skin. The bionic outer skin has several hinge holes, and the mesh has several bionic hedgehog spines evenly distributed on it. The upper ends of the bionic hedgehog spines pass through the hinge holes and extend to the bionic outer skin.

[0062] The first infrared sensor is disposed on the mesh and located inside the bionic skin. It is electrically connected to the controller. When the sensor is touched, it will retract the whole structure (mainly by retracting the forelimbs and hindlimbs, bending the head downwards, and bending the tailbone assembly further downwards, so as to retract the above components into the bionic skin and / or mesh as much as possible).

[0063] The second infrared sensor is located on the nose portion of the headpiece and is electrically connected to the controller for driving avoidance.

[0064] A camera, which is mounted on the headpiece and located in the eye, is electrically connected to the controller and is used to capture video images;

[0065] A light fixture, which is installed in another eye on the headpiece and electrically connected to the controller, is used for nighttime illumination.

[0066] In the application, although the description of the second infrared sensor, camera and light as being installed inside the corresponding organ is for ease of reference, it is not limited to being installed inside the corresponding organ. They can also be used as the corresponding organ themselves, and can be equipped with corresponding protective devices to protect them when they are not in operation, to prevent exposure, etc.

[0067] In addition, the frame of this application is equipped with a power supply for supplying power to various electrical appliances.

[0068] Compared with the prior art, the beneficial effects of the present invention are:

[0069] 1. In this application, the head uses a dual-drive device with multiple connecting parts to achieve up-and-down rotation, left-and-right head turning, and multi-angle fine adjustment; the limbs are independently controlled by dual motors and multiple hinge structures, enabling complex movements such as digging, crawling, and jumping; the tailbone is composed of multiple hinge components, which can bend synchronously with the body's curling. The combined effect of multiple drive methods allows the device to accurately replicate various movement postures of a real hedgehog, with smooth and natural movements and no mechanical stiffness.

[0070] Furthermore, the spinal component is designed based on the curve of a real hedgehog's spine, and the number of segments and connection method of the tail vertebrae conform to biological physiological characteristics. Combined with the symmetrical layout of the limbs, it ensures the stability of the center of gravity during overall movement and avoids unilateral tilting.

[0071] 2. The controller in this application has a built-in remote communication module, which can realize precise control of a variety of actions. Users can set up combination actions according to their needs to meet personalized operation requirements and adapt to different usage scenarios.

[0072] Furthermore, the first infrared sensor is located on the outside of the device. Upon sensing a touch, it can quickly trigger an overall retraction action, restoring the hedgehog's defensive instinct. The second infrared sensor is located on the head, which can autonomously detect obstacles and control its direction to avoid them without user intervention. The camera and lights work together to enable autonomous movement and image recording at night or in low-light environments, further enhancing the device's autonomy and practicality.

[0073] 3. The head assembly in this application adopts a sliding pair design, which significantly improves the smoothness of rotation and sliding stability compared with the traditional structure; the cooperation between the ball head groove and the ball head rod can realize multi-angle fine adjustment and avoid movement jamming; the multiple sets of hinged connectors of the limb assembly can distribute the movement force, reduce component wear, and extend the service life of the equipment.

[0074] Furthermore, the mesh is covered with high-strength material to withstand certain external pressure; the biomimetic outer skin is made of flexible material, which not only replicates the feel of hedgehog skin but also cushions external collisions; the frame is made of lightweight and high-strength material, which reduces the overall weight of the equipment while ensuring support, making it easy to move and use.

[0075] 4. The hinge holes on the bionic skin in this application match the bionic hedgehog spines on the mesh, and the arrangement is consistent with that of a real hedgehog; the head organs such as "eyes, mouth, nose, and ears" are not only the mounting carriers of functional components, but their shape and proportion are also highly similar to those of a real hedgehog, which can be used in popular science exhibitions, museum displays and other scenarios, and have both ornamental and popular science value.

[0076] Furthermore, in addition to basic biomimetic movements, the camera can be used for field observation and home monitoring; the lights can serve as emergency lighting; the remote control function can be used in interactive children's toys; and the autonomous sensing function can be used in scientific research and teaching, simulating biological stress response experiments. In summary, this device can cover multiple scenarios such as popular science education, home entertainment, scientific research observation, and exhibitions, and its practicality far exceeds that of traditional single-function biomimetic mechanical products. Attached Figure Description

[0077] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0078] Figure 2 This is a schematic diagram of the overall structure of the present invention from another perspective;

[0079] Figure 3 This is a schematic diagram of the structure of some of the spinal and coccygeal components in this invention;

[0080] Figure 4 This is a schematic diagram of the head assembly in this invention;

[0081] Figure 5 This is an exploded view of the head assembly in this invention;

[0082] Figure 6 In this invention Figure 5 The enlarged view shown at point A in the middle;

[0083] Figure 7 This is a partial structural diagram of the present invention;

[0084] Figure 8 This is a schematic diagram of the structure of some forelimb components in this invention;

[0085] Figure 9 This is a schematic diagram of the structure of a portion of the forelimb assembly from another angle in this invention;

[0086] Figure 10 This is a schematic diagram of the structure of some hind limb components in this invention;

[0087] Figure 11 This is an exploded view of the coccyx assembly in this invention;

[0088] Figure 12 This is an exploded view of the coccyx assembly from another angle in this invention;

[0089] Figure 13 This is a schematic diagram of the overall structure of the first tailbone segment in this invention;

[0090] Figure 14 This is a schematic diagram of the structure of several second caudal vertebrae in the present invention;

[0091] Figure 15 This is a schematic diagram of the structure of part of the second caudal vertebrae in this invention;

[0092] Figure 16 This is a partial structural diagram of the frame in this invention;

[0093] In the diagram: Frame 1, Head assembly 2, First head drive device 3, Second head drive device 4, Tail cone assembly 5, Tail cone drive device 6, First connecting column 7, First connecting part 8, Second connecting part 9, Ball joint groove 10, Ball joint rod 11, First connecting hole 12, Third connecting piece 13, Second connecting hole 14, First forelimb drive motor 15, Second forelimb drive motor 16, Third connecting part 17, Fourth connecting part 18, Fifth connecting part 19, Sixth connecting part 20, Seventh connecting part 21, Eighth connecting part 22, Ninth connecting part 23, First rib assembly 24, Fourth connecting piece 25, Tenth connecting part 26, Eleventh connecting part 27, Support frame 28, First hind limb drive motor 29, Second hind limb drive motor 30, Twelfth connecting part 31, Thirteenth connecting part Connecting part 32, fourteenth connecting part 33, fifteenth connecting part 34, sixteenth connecting part 35, seventeenth connecting part 36, spine member 38, eleventh connecting part 39, first coccyx segment 40, second coccyx segment 41, third coccyx segment 42, fourth coccyx segment 43, first hinge end 44, first support end 45, claw member 46, second hinge end 47, second support end 48, first transmission groove 49, second transmission groove 50, spine segment 51, second rib member 52, first mounting groove 53, first hinge hole 54, first inclined surface 55, first connecting block 56, second hinge hole 57, third hinge hole 58, second mounting groove 59, first hinge member 60, second inclined surface 61, first arc-shaped surface 62, guide part 63, abutment part 64. Detailed Implementation

[0094] The following will refer to the appendices in the embodiments of the present invention. Figure 1-16 The technical solutions in the embodiments of the present invention are clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0095] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" and "second" may explicitly or implicitly include one or more of that feature.

[0096] Please see Figure 1-16 Embodiments of the present invention:

[0097] Example:

[0098] like Figure 1-3 As shown: A smart bionic mechanical hedgehog, comprising:

[0099] Frame 1, on which a controller is installed;

[0100] A spinal assembly, which is fixedly connected to the frame 1 and located above the frame 1;

[0101] The head assembly includes at least a headpiece 2, a first head drive device 3, and a second head drive device 4. One end of the first head drive device 3 is connected to the first spine assembly, and the other end is connected to the headpiece 2. One end of the second head drive device 4 is connected to the frame 1, and the other end is connected to the headpiece 2. The headpiece 2 is located in front of the first spine assembly and the frame 1.

[0102] The forelimb assembly includes at least a first moving component and a forelimb driving device. One end of the forelimb driving device is connected to the frame 1, and the other end is connected to the first moving component. It is located on both sides of the second head driving device 4.

[0103] The tailbone assembly includes at least a tailbone piece 5 and a tailbone drive device 6. One end of the tailbone drive device 6 is connected to the frame 1, and the other end is connected to the tailbone piece 5. The tailbone piece 5 is connected to the end of the spine assembly away from the head piece 2 and is located above the tailbone drive device 6.

[0104] The hind limb assembly includes at least a second moving assembly and a hind limb driving device. One end of the hind limb driving device is connected to the caudal vertebra 5 and located below the caudal vertebra 5, and the other end is connected to the second moving assembly.

[0105] The controller is electrically connected to each drive device and is used to control the operation of each drive device, thereby completing the operation of the overall device.

[0106] Specifically, in this embodiment, Bluetooth connection is used for remote control. The control functions and actions that can be performed include, but are not limited to, running, jumping, lying down, squatting, standing, digging, curling up, stretching, crawling, walking slowly, turning left, raising head, lowering head, turning head left, turning head right, stopping, and night vision. It should also be noted that although it can be controlled by a remote control device, when the first and second infrared sensors are activated during normal walking, i.e., when touched or blocked, the controller on the device will automatically curl up or turn around. That is, even without the remote device's intervention, its own controller will automatically make biomimetic animal instinctive reactions according to the program.

[0107] Furthermore, the overall device in this embodiment adopts a left-right symmetrical structure. However, it should be noted that even symmetrical components are not necessarily synchronized in their working state. For example, in order to complete each action, the limbs cooperate with each other, but they do not necessarily perform the same action at the same time. They are mainly controlled by the controller, and can be synchronous or asynchronous. This is why multiple drive devices are set up.

[0108] In this embodiment, each core component (frame 1, head, spine, tailbone, and limbs) is laid out according to the physiological structure of a real hedgehog, with clear division of labor and close connection. The controller centrally manages all driving devices to ensure accurate transmission of action commands and can collaboratively complete a variety of complex biomimetic movements such as running, jumping, and curling up, avoiding the disconnection of movement of individual components.

[0109] Furthermore, the symmetrical structural design, combined with independent drive equipment, allows for flexible synchronous or asynchronous movements of the limbs. Whether it is a steady step while walking slowly or a coordinated effort while jumping, it can ensure balance and adapt to the movement needs of different ground environments.

[0110] In addition, the combination of remote communication and autonomous sensing functions not only allows users to actively control the device through multiple terminals, but also enables it to trigger instinctive reactions such as defense and avoidance through sensors without human intervention, thus meeting the dual needs of "active control" and "biological simulation" and improving the flexibility of use.

[0111] like Figure 4-6 As shown: The head assembly includes:

[0112] A first head drive device 3 is fixed to the front end of the spinal assembly, and its output end extends downward toward the spinal assembly.

[0113] The first connector includes a first connecting part 8 and a second connecting part 9. The first connecting part 8 is connected to the output end of the first head drive device 3, and the two rotate synchronously. The second connecting part 9 is connected to the head piece 2. The first connecting part 8 and the second connecting part 9 are rotatably connected, and the rotation axis of the two relative rotations extends horizontally, so that the head piece 2 can complete up and down rotation.

[0114] The second connector includes a ball head groove 10 and a ball head rod 11. The ball head groove 10 is disposed on the head piece 2 and located below the second connecting part 9. One end of the ball head rod 11 is rotatably connected to the ball head groove 10, and the other end is provided with a first connecting hole 12.

[0115] The third connector 13 is provided with a second connecting hole 14 and a first connecting post 7. The second connecting hole 14 is opened on one side of the third connector 13, and the first connecting post 7 is provided on the end of the third connector 13 away from the second connecting hole 14 and is sleeved in the first connecting hole 12.

[0116] The second head drive device 4 is connected to the frame 1 via the fourth connector 25 and is located between the frame 1 and the spine assembly. A guide part 63 is provided on the output end of the second head drive device 4, and an abutment part 64 is provided on the wall of the second connecting hole 14. The second connecting hole 14 is sleeved on the output end of the second head drive device 4, and the two rotate synchronously. The abutment part 64 and the guide part 63 abut against each other and are slidably connected, so that the second connecting hole 14 and the output end of the second head drive device 4 can slide relative to each other.

[0117] Specifically, in this embodiment, the first connector is in the form of a hinge, and the cross-section of the output end of the second head drive device 4 is "D" shaped to ensure smooth rotation and stable sliding. That is, this position is a sliding pair. This setting is to ensure the degree of freedom. The guide part 63 is the vertical side of the "D" shape of the output end of the second head drive device 4, and the abutment part 64 is the vertical side of the "D" shape of the second connecting hole 14.

[0118] In this embodiment, the combination of the first head drive device 3 and the first connector provides the head piece 2 with the power to rotate up and down; the second head drive device 4 drives the head piece 2 to rotate left and right through a special transmission structure. The dual drive mode breaks the limitation of single-direction movement and makes the head movement more in line with the flexible posture of a real hedgehog.

[0119] Furthermore, the sliding pair design between the "D"-shaped output end and the second connection hole 14, compared to the traditional circular connection, can effectively avoid sliding offset, ensuring smoothness when the head rotates, improving transmission stability, and reducing component wear after long-term use.

[0120] In addition, the rotatable connection between the ball head groove 10 and the ball head rod 11 can assist the head piece 2 in making multi-angle fine adjustments. Combined with the up-down and left-right rotation functions, it can achieve subtle movements similar to a real hedgehog "peeking out to observe" and "turning its head to listen", further improving the biomimetic accuracy.

[0121] like Figure 1 , 2 As shown in 7, 8, and 9: the forelimb assembly includes:

[0122] A forelimb drive device is mounted on the frame 1 and includes a first forelimb drive motor 15 and a second forelimb drive motor 16. The second forelimb drive motor 16 is located behind the first forelimb drive motor 15, and the output ends of both motors extend to the side of the frame 1.

[0123] The fifth connector includes a third connecting part 17, a fourth connecting part 18, a fifth connecting part 19, and a sixth connecting part 20. One end of the third connecting part 17 is sleeved on the output end of the first forelimb drive motor 15, and the two rotate synchronously. The other end is hinged to the fourth connecting part 18. The upper end of the fifth connecting part 19 is sleeved outside the output end of the first forelimb drive motor 15, and the two are rotatably connected. The lower ends of the fourth connecting part 18 and the fifth connecting part 19 are both hinged to the sixth connecting part 20, and the fourth connecting part 18 is located in front of the fifth connecting part 19. The end of the sixth connecting part 20 away from the fifth connecting part 19 extends forward and contacts the ground.

[0124] The sixth connector includes a seventh connector 21, an eighth connector 22, and a ninth connector 23. One end of the seventh connector 21 is sleeved on the output end of the second forelimb drive motor 16, and the two rotate synchronously. The other end is hinged to the middle position of the eighth connector 22. One end of the ninth connector 23 is connected to the lower end of the eighth connector 22, and the two always maintain the same angle. The other end extends forward and is hinged to the middle of the fifth connector 19.

[0125] In this embodiment, the dual forelimb drive motors (first and second forelimb drive motors 16) operate independently and are equipped with multiple sets of hinged connectors (third to ninth connecting parts 23), which can control the forelimbs to extend, bend, dig, and perform other actions. They do not need to rely on a single power source and have a wider variety of actions, which can simulate scenarios such as a hedgehog digging and supporting its body by leaning forward.

[0126] Furthermore, the front-to-back arrangement of the fourth connecting part 18 and the fifth connecting part 19, together with the linkage effect of the ninth connecting part 23 on the fifth connecting part 19, makes the force more even when the forelimb moves, avoids the jamming of local parts due to the concentration of force, and ensures that the movement is smooth and natural without mechanical stiffness.

[0127] In addition, the design of the forward-extending structure of the sixth connecting part 20 makes its contact area with the ground more reasonable, and the claw 46 at the end can enhance the gripping force with the ground. Whether walking on flat ground or moving in a slightly rough environment, it can reduce slippage and improve the stability of the forelimb support.

[0128] like Figure 1 , 2 As shown in Figures 3, 7, 11, and 12: The coccyx assembly includes:

[0129] The coccygeal component 5 is composed of several coccygeal segments that are hinged together. One end of the coccygeal component is connected to the rear end of the spinal column assembly, and the other end bends downward and extends downward. This end can only bend downward.

[0130] The first rib 24 is evenly distributed along the length of the caudal vertebra 5, with one end connected to several caudal vertebrae and the other end extending to the side of the caudal vertebra 5.

[0131] Tail vertebra drive device 6, which is located on the frame 1, behind the second head drive device 4, with its output end extending to the side of the frame 1.

[0132] The eighth connector includes a tenth connector 26 and an eleventh connector 27. One end of the tenth connector 26 is connected to the output end of the tail cone drive device 6, and the two rotate synchronously. The other end extends to the rear of the frame 1 and is hinged to the eleventh connector 27. The end of the eleventh connector 27 away from the tenth connector 26 is hinged to the tail cone 5.

[0133] Furthermore, when the tailbone 5 is retracted (curled up), the radius of curvature of its front end is greater than the radius of curvature of its rear end.

[0134] Specifically, the eleventh connecting part 27 is connected to the last coccyx segment of the coccyx member 5. In the normal state, the radius of curvature of the coccyx member 5 is greater than the radius of curvature after contraction. Furthermore, after contraction, the radius of curvature of the coccyx member 5 near the end close to the spinal component is greater than the radius of curvature near the end close to the eleventh connecting part.

[0135] In this embodiment, the tail vertebrae 5 is composed of multiple tail vertebrae hinged together, and its design allows it to bend only downwards. This not only replicates the movement characteristics of a real hedgehog's tail vertebrae, but also allows the tail vertebrae to bend and wrap around the hind limbs when the device is curled up, forming a complete "defense posture" and enhancing the biomimetic effect.

[0136] In addition, the coccyx drive device 6 acts directly on the end of the coccyx component 5 through the eighth connector, and the driving force is transmitted directly and efficiently, which can ensure that the coccyx movement is coordinated with the movement of the head and limbs. For example, the coccyx hangs down naturally when the body is extended and bends synchronously when it is curled up, avoiding disjointed movements.

[0137] like Figure 1 , 2 As shown in Figures 7 and 10: The hind limb assembly includes:

[0138] Support frame 28, which is connected to tail cone 5 and located below tail cone 5, is used to install hind limb drive device;

[0139] The hind limb drive device includes a first hind limb drive motor 29 and a second hind limb drive motor 30. The second hind limb drive motor 30 is located behind the first hind limb drive motor 29, and the output ends of both extend to the side of the support frame 28.

[0140] The ninth connector includes a twelfth connecting part 31, a thirteenth connecting part 32, a fourteenth connecting part 33, and a fifteenth connecting part 34. One end of the twelfth connecting part 31 is sleeved on the first hind limb drive motor 29, and the two rotate synchronously. The other end is hinged to the thirteenth connecting part 32. One end of the fourteenth connecting part 33 is sleeved on the output end of the first hind limb drive motor 29, and the two are rotatably connected. The lower ends of the thirteenth connecting part 32 and the fourteenth connecting part 33 are both hinged to the fifteenth connecting part 34. The thirteenth connecting part 32 is located in front of the fourteenth connecting part 33. The end of the fifteenth connecting part 34 away from the thirteenth connecting part 32 extends backward and contacts the ground.

[0141] The tenth connector includes a sixteenth connector 35 and a seventeenth connector 36. One end of the sixteenth connector 35 is sleeved on the output end of the second hind limb drive motor 30, and the two rotate synchronously. One end of the seventeenth connector 36 is hinged to the sixteenth connector 35, and the other end extends forward and is hinged to the middle of the fourteenth connector 33.

[0142] In this embodiment, the dual hind limb drive motors (first and second hind limb drive motors 30) provide sufficient power to the hind limbs. Combined with multiple sets of connectors (twelfth to seventeenth connectors 36), the device can support the device to complete actions that require strong force, such as jumping, standing, and squatting, thus breaking through the power limitations of the forelimbs and expanding the overall movement capabilities.

[0143] Furthermore, the front-to-back arrangement of the thirteenth connecting part 32 and the fourteenth connecting part 33, in conjunction with the linkage of the seventeenth connecting part 36 to the fourteenth connecting part 33, makes the movement trajectory of the hind limbs when bending and extending more in line with the movement pattern of the real hedgehog's hind limbs. When moving in coordination with the forelimbs, it can maintain the stability of the body and avoid unilateral tilting.

[0144] In addition, the second support end 48 formed by the rearward extension and bending of the fifteenth connecting part 34 increases the contact area between the hind limb and the ground, which can not only improve the stability when standing, but also buffer the impact force when jumping and landing, reducing vibration damage to internal components.

[0145] like Figure 1-3 As shown: The spinal assembly includes:

[0146] The vertebral component 38 is composed of several vertebral segments 51 fixedly connected together, and its front end is bent downward.

[0147] The second rib 52 is evenly distributed along the length of the vertebral segment 38, with one end connected to a number of vertebral segments 51 and the other end extending to the side of the vertebral segment 51.

[0148] The eleventh connector 39 has one end connected to the second rib 52 and the other end connected to the frame 1.

[0149] In this embodiment, the spine component 38 is composed of multiple spine components 51 fixed together and has a downward-curving front end, which is completely based on the physiological curve of a real hedgehog spine. This design can provide stable support for the head component, preventing the whole body from shaking when the head moves, and can also guide the body to form a natural curved shape when the device is curled up or extended, thus enhancing biological coordination.

[0150] Moreover, the second rib 52 is evenly distributed along the spine 38 and is connected to the frame 1 in conjunction with the eleventh connector 39. This is equivalent to building an "auxiliary support frame" for the spine assembly, which can distribute the pressure on the spine 38, prevent the spine from deforming after long-term use, and extend the service life of the assembly.

[0151] In addition, the spinal column, as the core structure connecting the head and coccyx, can coordinate the head's movement commands with the coccyx's motion, ensuring smooth overall movement and avoiding a mechanical feeling of "the head moving but the body not moving."

[0152] like Figure 11-15As shown: The composition of the coccyx component segments is in sequence: the first coccyx component segment 40, several second coccyx component segments 41, the third coccyx component segment 42, several second coccyx component segments 41, and the last fourth coccyx component segment 43, that is, there is only one first coccyx component segment 40, one third coccyx component segment 42, and one fourth coccyx component segment 43, and the others are all composed of second coccyx component segments 41. And the torsion spring is arranged at the hinge position between two adjacent coccyx component segments, and its two ends respectively abut against these two adjacent coccyx component segments. The elasticity of the torsion spring on the coccyx component 5 gradually weakens from front to back.

[0153] Specifically, a first installation groove 53 and a first hinge hole 54 are provided on the first coccyx component segment 40. The first installation groove 53 is opened on the upper end surface of the first coccyx component segment 40 and forms an opening on the rear end surface of the first coccyx component segment 40, making the first coccyx component segment 40 as a whole in a "C" shape. The first hinge hole 54 is opened on the side wall of the first coccyx component segment 40 for installing other coccyx component segments. And the rear end surface of the first coccyx component segment 40 is a first inclined surface 55, and the inclination direction is from top to bottom and forward.

[0154] A first connecting block 56, a second hinge hole 57, a third hinge hole 58, a second mounting groove 59 and a first hinge member 60 are provided on the second coccygeal segment 41. One end of the first connecting block 56 is connected to the front end face of the second coccygeal segment 41, and the other end extends forward. Second hinge holes 57 are formed on both sides thereof. A first hinge member 60 is rotatably connected in the second hinge holes 57. The first connecting block 56 can extend into the first mounting groove 53. The first hinge member 60 is rotatably connected to the first hinge hole 54. The front end face of the second coccygeal segment 41 is composed of a second inclined surface 61 and a first arc surface 62. The inclined direction of the second inclined surface 61 is inclined backward from top to bottom. The first arc surface 62 is connected below the second inclined surface 61, with its upper end connected to the lower end of the second inclined surface 61 and its lower end bent obliquely backward. Moreover, the front end face of the second coccygeal segment 41 can be abutted against the rear end face of the coccygeal segment hinged in front of it (that is, the second inclined surface 61 and the first arc surface 62 can be abutted against the first inclined surface 55. When the second inclined surface 61 abuts against the first inclined surface 55, the curvature radius between the two coccygeal segments is the largest. When the first arc surface 62 abuts against the first inclined surface 55, the curvature radius of the coccygeal segment becomes smaller). The second mounting groove 59 is formed on the upper end face of the second coccygeal segment 41, behind the first connecting block 56, and forms an opening on the rear end face of the second coccygeal segment 41, so that the rear end of the second coccygeal segment 41 is also in a "C" shape. The rear end of the second coccygeal segment 41 is also an inclined surface, and all are the first inclined surface 55. The rear end faces of all coccygeal segments except the fourth coccygeal segment 43 are inclined surfaces, and the inclined directions are the same. The third hinge hole 58 is formed on the side wall of the second mounting groove 59 for rotatably connecting with the hinge member on the coccygeal segment connected behind the second coccygeal segment 41.

[0155] The overall shape of the third coccygeal segment 42 is similar to that of the second coccygeal segment 41. The difference is that a support frame 28 is fixedly connected below the third coccygeal segment 42, and the second inclined surface 61 and the first arc surface 62 thereon are abutted against the first inclined surface 55 of the coccygeal segment in front.

[0156] The overall shape of the fourth coccygeal segment 43 is similar to that of the second coccygeal segment 41. The difference is that the rear end face of the fourth coccygeal segment 43 is not limited. In addition, the mounting groove thereon is formed on the lower end face of the fourth coccygeal segment 43, and an opening is also formed on the rear end face of the fourth coccygeal segment 43 at this position. The hinge hole on the side wall of the mounting groove here is rotatably connected to the hinge member provided on the eleventh connecting portion 27. The second inclined surface 61 and the first arc surface 62 thereon are abutted against the first inclined surface 55 of the coccygeal segment in front.

[0157] In addition, it should be noted that on the coccyx member 5, in the direction from its front end to the rear end, the inclination angle of the first inclined surface 55 on different coccyx segments increases gradually to achieve better curling.

[0158] The torsion spring is arranged on the hinge member, and its two protruding ends respectively abut against two adjacent coccyx segments, which can assist the coccyx member after curling to reset. In the length direction of the coccyx member 5 from the first coccyx segment 40 to the fourth coccyx segment 43, the elasticity of the torsion spring between each coccyx segment decreases in sequence, so that when curling, the rear end of the coccyx member 5 can gradually and orderly contract inward following the eleventh connecting portion 27 to form a curled state.

[0159] In this embodiment, each coccyx segment (the first to the fourth coccyx segments 43) cooperates with the hinge member through the hinge hole to achieve flexible rotation, and the inclined surface design of the front end face and the rear end face can abut against each other when the coccyx is bent, avoiding damage to components caused by excessive rotation, and at the same time ensuring that the bending trajectory conforms to the biological movement law.

[0160] Moreover, the "C"-shaped structure of the first coccyx segment 40 and the connection block design of the second coccyx segment 41 make the connection between the coccyx segments closer, reduce the transmission gap, ensure that the driving force can be efficiently transmitted from the first coccyx segment to the last coccyx segment, and avoid the transmission failure problem of "the first segment moves while the last segment does not move".

[0161] In addition, a support frame 28 is fixed below the third coccyx segment 42 to provide a stable installation foundation for the hind limb assembly and prevent the coccyx from shifting when the hind limb moves; the special installation groove design of the fourth coccyx segment 43 ensures a reliable connection with the eleventh connecting portion 27, enables the power of the coccyx driving device 6 to be accurately transmitted to the end of the coccyx, and improves the action response speed.

[0162] As Figure 8-9 shown: One end of the sixth connecting portion 20 is the first hinge end 44, and the other end is the first support end 45. The first hinge end 44 is hinged to the lower end of the fourth connecting portion 18 at a first location and hinged to the lower end of the fifth connecting portion 19 at a second location. The first location is between the second location and the support end and is closer to the second location on the sixth connecting portion 20. A claw member 46 is provided below the first support end 45;

[0163] One end of the fifteenth connecting portion 34 is the second hinge end 47, and the other end extends backward, then bends downward and extends to form the second support end 48. The second hinge end 47 is hinged to the lower end of the thirteenth connecting portion 32 at a third location and hinged to the lower end of the fourteenth connecting portion 33 at a fourth location. The third location is between the fourth location and the second support end 48 and is closer to the fourth location on the fifteenth connecting portion 34.

[0164] In this embodiment, the two hinge points (the first and the second) of the first hinge end 44 of the sixth connecting part 20 are reasonably arranged, which can evenly transmit the force of the fourth connecting part 18 and the fifth connecting part 19 to the support end, avoid local force concentration causing the forelimb movement to be stuck, and ensure the stability of the forelimb when supporting the body or moving.

[0165] Furthermore, the design of the two hinge points (the third and fourth points) of the second hinge end 47 of the fifteenth connecting part 34, together with the second support end 48 formed by bending, allows the hind limbs to distribute the pressure over a wider range when bearing body weight or jumping, reducing wear on a single hinge point and improving the durability of the hind limbs.

[0166] In addition, the claw 46 enhances the grip of the forelimbs, especially in slightly rough ground environments, and can prevent slipping; the curved support end of the fifteenth connecting part 34 improves the stability of the hind limbs. The combination of the two allows the equipment to maintain a good posture and is not easy to tip over in scenarios such as walking, standing, and digging.

[0167] like Figure 16 As shown: The frame 1 is also equipped with;

[0168] The first transmission groove 49 is opened on the upper end face of the frame 1 and has an opening on the front end face of the frame 1 to provide transmission space for the ball joint 11 and the third connector 13.

[0169] The second transmission groove 50 is formed on the upper end face of the frame 1 and has an opening on the rear end face of the frame 1. It is located behind the first transmission groove 49 and on both sides of the first transmission groove 49, and is used to provide rotation space for the tenth connecting part 26.

[0170] In this embodiment, the first transmission groove 49 provides dedicated movement space for the ball joint 11 and the third connector 13, which can prevent them from colliding or rubbing against other parts of the frame 1 during transmission, ensuring that the movement of the head assembly is not interfered with and maintains smoothness.

[0171] Furthermore, the second transmission groove 50 is located on both sides of the first transmission groove 49, and its opening faces the rear end of the frame 1. It can provide sufficient rotation space for the tenth connecting part 26 (the key transmission component of the tailbone drive), so as to avoid the tenth connecting part 26 being obstructed due to insufficient space when the tailbone drive device 6 is running, and ensure that the tailbone action responds normally.

[0172] In addition, the opening position of the transmission groove is highly consistent with the movement trajectory of the component, which can not only meet the movement requirements of the component, but also play a certain role in limiting the component, preventing excessive displacement of the component from causing it to fall off, and improving structural safety.

[0173] Also includes:

[0174] The mesh covers the spine assembly and the coccyx assembly, and is covered with a bionic outer skin. The bionic outer skin has several hinge holes, and the mesh has several bionic hedgehog spines evenly distributed on it. The upper ends of the bionic hedgehog spines pass through the hinge holes and extend to the bionic outer skin.

[0175] The first infrared sensor is mounted on the mesh and located inside the bionic outer skin. It is electrically connected to the controller and will retract when the sensor is touched.

[0176] The second infrared sensor is located on the nose portion of the headpiece 2 and is electrically connected to the controller for driving avoidance.

[0177] The camera is mounted on the headpiece 2 and located in the eye, and is electrically connected to the controller for capturing video images;

[0178] The light fixture is located in another eye on the headpiece 2 and is electrically connected to the controller for nighttime illumination.

[0179] In this embodiment, the mesh covers the spine and tailbone components, forming a "double protection" with the bionic skin. This not only protects the internal drive equipment and sensors from external collision damage, but also restores the feel of a real hedgehog's skin through the material and texture of the bionic skin, enhancing the realism of the appearance.

[0180] Furthermore, the biomimetic hedgehog spines extend from the hinge holes of the biomimetic outer skin, arranged in the same way as real hedgehogs. This not only does not affect the movement of the device, but also visually presents the appearance of hedgehogs, making it suitable for science popularization, interactive exhibitions and other scenarios, and enhancing visual recognition.

[0181] In addition, the first infrared sensor triggers overall contraction upon sensing a touch, replicating the hedgehog's defensive instincts; the second infrared sensor enables obstacle avoidance, enhancing the safety of autonomous movement; the camera and lights are integrated into the head organ area, which does not compromise the realistic appearance while enabling video capture and nighttime illumination, making the device more practical in scenarios such as scientific research observation and family interaction.

[0182] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0183] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An intelligent bionic mechanical hedgehog, characterized in that, The utility model relates to a kind of robot, including: Frame (1), which is provided with a controller; Vertebra assembly, which is fixedly connected with the frame (1) and located above the frame (1); Head assembly, which includes at least head piece (2), first head driving device (3) and second head driving device (4), one end of the first head driving device (3) is connected with the first vertebra assembly, the other end is connected with the head piece (2), one end of the second head driving device (4) is connected with the frame (1), the other end is connected with the head piece (2), and the head piece (2) is located in front of the first vertebra assembly and the frame (1); Forelimb assembly, which includes at least first moving assembly and forelimb driving device, one end of the forelimb driving device is connected with the frame (1), the other end is connected with the first moving assembly, and is located on both sides of the second head driving device (4); Tail vertebra assembly, which includes at least tail vertebra piece (5) and tail vertebra driving device (6), one end of the tail vertebra driving device (6) is connected with the frame (1), the other end is connected with the tail vertebra piece (5), and the tail vertebra piece (5) is connected to the end of the vertebra assembly away from the head piece (2) and located above the tail vertebra driving device (6); Hindlimb assembly, which includes at least second moving assembly and hindlimb driving device, one end of the hindlimb driving device is connected with the tail vertebra piece (5) and located below the tail vertebra piece (5), the other end is connected with the second moving assembly; The controller is electrically connected with each driving device for controlling the operation of each driving device, thereby completing the operation of the overall device.

2. The intelligent bionic mechanical hedgehog according to claim 1, characterized in that, The head assembly includes: First head driving device (3), which is fixed to the front end of the vertebra assembly, and the output end extends downward of the vertebra assembly; First connecting piece, which includes first connecting part (8) and second connecting part (9), the first connecting part (8) is connected with the output end of the first head driving device (3) and rotates synchronously, the second connecting part (9) is connected with the head piece (2), the first connecting part (8) and the second connecting part (9) are rotationally connected, the rotation axis of the relative rotation of the two extends along the horizontal direction, so that the head piece (2) can complete the up-down rotation; Second connecting piece, which includes ball head slot (10) and ball head rod (11), the ball head slot (10) is arranged on the head piece (2) and located below the second connecting part (9), the ball head of the ball head rod (11) is rotationally connected with the ball head slot (10), and the other end is provided with a first connecting hole (12); Third connecting piece (13), which is provided with a second connecting hole (14) and a first connecting column (7), the second connecting hole (14) is provided on one side of the third connecting piece (13), and the first connecting column (7) is arranged on the end of the third connecting piece (13) away from the second connecting hole (14) and is sleeved in the first connecting hole (12). The second head driving device (4) is connected with the frame body (1) through a fourth connecting piece (25) and is located between the frame body (1) and the spine assembly, the output end of the second head driving device (4) is provided with a guide portion, the hole wall of the second connecting hole (14) is provided with an abutting portion, the second connecting hole (14) is sleeved outside the output end of the second head driving device (4), and the two rotate synchronously; the abutting portion and the guide portion abut against each other and are connected in sliding mode, so that the second connecting hole (14) and the output end of the second head driving device (4) can slide relative to each other.

3. The intelligent bionic mechanical hedgehog according to claim 1, characterized in that, The forelimb assembly comprises: The forelimb driving device is arranged on the frame body (1) and comprises a first forelimb driving motor (15) and a second forelimb driving motor (16), the second forelimb driving motor (16) is arranged behind the first forelimb driving motor (15), and the output ends of the two motors extend to the side of the frame body (1); The fifth connecting piece comprises a third connecting portion (17), a fourth connecting portion (18), a fifth connecting portion (19) and a sixth connecting portion (20), one end of the third connecting portion (17) is sleeved on the output end of the first forelimb driving motor (15) and rotates synchronously with the output end, the other end is hingedly connected with the fourth connecting portion (18), the upper end of the fifth connecting portion (19) is sleeved outside the output end of the first forelimb driving motor (15) and is connected in rotation with the output end, the lower ends of the fourth connecting portion (18) and the fifth connecting portion (19) are hingedly connected with the sixth connecting portion (20), the fourth connecting portion (18) is located in front of the fifth connecting portion (19), and the end of the sixth connecting portion (20) away from the fifth connecting portion (19) extends forward and contacts the ground; The sixth connecting piece comprises a seventh connecting portion (21), an eighth connecting portion (22) and a ninth connecting portion (23), one end of the seventh connecting portion (21) is sleeved on the output end of the second forelimb driving motor (16) and rotates synchronously with the output end, the other end is hingedly connected with the middle part of the eighth connecting portion (22), one end of the ninth connecting portion (23) is connected with the lower end of the eighth connecting portion (22) and always maintains the same angle, and the other end extends forward and is hingedly connected with the middle part of the fifth connecting portion (19).

4. The intelligent bionic mechanical hedgehog according to claim 3, characterized in that, The tail vertebra assembly comprises: The tail vertebra piece (5) is composed of a plurality of tail vertebra piece segments which are hingedly connected, one end of the tail vertebra piece (5) is connected with the rear end of the spine assembly, the other end of the tail vertebra piece (5) extends downward and can only bend downward; The first rib piece (24) is uniformly distributed along the length direction of the tail vertebra piece (5), one end of the first rib piece (24) is connected with the plurality of tail vertebra piece segments, and the other end of the first rib piece (24) extends to the side of the tail vertebra piece (5); The tail vertebra driving device (6) is located on the frame body (1) and is located behind the second head driving device (4), and the output end of the tail vertebra driving device (6) extends to the side of the frame body (1). The eighth connecting member includes a tenth connecting part (26) and an eleventh connecting part (27), one end of the tenth connecting part (26) is connected with the output end of the tail vertebra driving device (6) and rotates synchronously, the other end extends to the rear of the frame body (1) and is hinged with the eleventh connecting part (27), one end of the eleventh connecting part (27) away from the tenth connecting part (26) is hinged with the tail vertebra part (5); The curvature radius of the front end of the tail vertebra part (5) is greater than that of the rear end when the tail vertebra part (5) is retracted.

5. The intelligent bionic mechanical hedgehog according to claim 4, characterized in that, The rear leg assembly includes: A support frame (28) connected with the tail vertebra part (5) and located below the tail vertebra part (5) for mounting the rear leg driving device; The rear leg driving device includes a first rear leg driving motor (29) and a second rear leg driving motor (30), the output end of the second rear leg driving motor (30) extends to the side of the support frame (28) behind the first rear leg driving motor (29); The ninth connecting member includes a twelfth connecting part (31), a thirteenth connecting part (32), a fourteenth connecting part (33) and a fifteenth connecting part (34), one end of the twelfth connecting part (31) is sleeved on the first rear leg driving motor (29) and rotates synchronously, the other end is hinged with the thirteenth connecting part (32), one end of the fourteenth connecting part (33) is sleeved on the output end of the first rear leg driving motor (29) and rotates, the lower ends of the thirteenth connecting part (32) and the fourteenth connecting part (33) are hinged with the fifteenth connecting part (34), the thirteenth connecting part (32) is arranged in front of the fourteenth connecting part (33), and one end of the fifteenth connecting part (34) away from the thirteenth connecting part (32) extends rearward and contacts the ground; The tenth connecting member includes a sixteenth connecting part (35) and a seventeenth connecting part (36), one end of the sixteenth connecting part (35) is sleeved on the output end of the second rear leg driving motor (30) and rotates synchronously, one end of the seventeenth connecting part (36) is hinged with the sixteenth connecting part (35), and the other end extends forward and is hinged with the middle part of the fourteenth connecting part (33).

6. A smart bionic mechanical hedgehog according to claim 1, 2, 3, 4 or 5, characterized in that, The spine assembly includes: A spine part (38) composed of a plurality of spine part segments (51) and curved downward at the front end; A second rib part (52) uniformly distributed along the length direction of the spine part (38), one end of the second rib part (52) is connected with the plurality of spine part segments (51), and the other end extends to the side of the spine part segment (51); An eleventh connecting member (39) having one end connected with the second rib part (52) and the other end connected with the frame body (1).

7. The intelligent bionic mechanical hedgehog according to claim 6, characterized in that, The tail vertebra part segment includes: A first tail vertebra part segment (40) having one end fixedly connected with the spine part (38); The other end is hinged with a second tail vertebra part segment (41) or a third tail vertebra part segment (42). A second caudal vertebra segment (41), one end of which is hinged to the first caudal vertebra segment (40), or hinged to another second caudal vertebra segment (41), or hinged to a third caudal vertebra segment (42); The other end is hinged to another second caudal vertebra segment (41), or the other end is hinged to a third caudal vertebra segment (42), or the other end is hinged to a fourth caudal vertebra segment (43); A third caudal vertebra segment (42), one end of which is hinged to a second caudal vertebra segment (41), the other end is hinged to a second caudal vertebra segment (41), or the other end is hinged to a fourth caudal vertebra segment (43), and a support frame (28) is connected below; A fourth caudal vertebra segment (43), one end of which is hinged to a second caudal vertebra segment (41), or hinged to a third caudal vertebra segment (42), and the other end is hinged to an eleventh connecting part (27); A torsional spring is arranged at the hinged position between two adjacent caudal vertebra segments, and the two ends of the torsional spring abut against the two adjacent caudal vertebra segments respectively, and the elasticity of the torsional spring on the caudal vertebra (5) decreases from front to back.

8. The intelligent bionic mechanical hedgehog according to claim 5, characterized in that, One end of the sixth connecting part (20) is a first hinged end (44), and the other end is a first support end (45), the first hinged end (44) is hinged to the lower end of the fourth connecting part (18) at a first position and hinged to the lower end of the fifth connecting part (19) at a second position, the first position is located between the second position and the support end, and is located on the sixth connecting part (20) closer to the second position, and a claw piece (46) is arranged below the first support end (45); One end of the fifteenth connecting part (34) is a second hinged end (47), the other end extends backward, then bends downward and extends to form a second support end (48), the second hinged end (47) is hinged to the lower end of the thirteenth connecting part (32) at a third position and hinged to the lower end of the fourteenth connecting part (33) at a fourth position, the third position is located between the fourth position and the second support end (48), and is located on the fifteenth connecting part (34) closer to the fourth position.

9. The intelligent bionic mechanical hedgehog according to claim 5, characterized in that, The frame body (1) is further provided with: A first transmission groove (49) is formed in the upper end face of the frame body (1), and an opening is formed in the front end face of the frame body (1) to provide transmission space for the ball head rod (11) and the third connecting piece (13); A second transmission groove (50) is formed in the upper end face of the frame body (1), and an opening is formed in the rear end face of the frame body (1) to provide rotation space for the tenth connecting part (26).

10. A smart bionic mechanical hedgehog according to claim 1, 2, 3, 4, 5, 7, 8 or 9, characterized in that, Further comprising: A net piece covers the spine assembly and the caudal vertebra assembly, and a bionic skin is further arranged above the net piece, a plurality of hinged holes are formed in the bionic skin, a plurality of bionic hedgehog spines are uniformly distributed on the net piece, the upper ends of the bionic hedgehog spines pass through the hinged holes and extend out of the bionic skin; A first infrared sensor is arranged on the net piece, located in the bionic skin, and electrically connected with the controller, which will contract the whole when sensing being touched; A second infrared sensor is arranged on the head piece (2), located on the nose part, and electrically connected with the controller, which is used for driving avoidance; A camera is arranged on the head piece (2) at an eye position, electrically connected with the controller, which is used for capturing video pictures; A lamp piece is arranged on the head piece (2) at the other eye, electrically connected with the controller, which is used for night lighting.

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