Telescopic fingernail for tail end knuckles

Abstract

The utility model discloses a telescopic fingernail for a tail end knuckle, which comprises a driving structure, the tail end knuckle and a fingernail, the driving structure is connected with the fingernail, and the driving structure drives the fingernail to reciprocate along the fingertip direction of the tail end knuckle; wherein when the fingernails are in an extending state, the outer edges of the fingernails exceed the outer edges of the fingertips of the tail end knuckles. The fingernails are arranged at the tail end knuckles, and the outer edges of the fingernails exceed the outer edges of the fingertips of the tail end knuckles, so that fine grabbing operation is effectively realized. Meanwhile, the fingernails are connected with the driving structure, the fingertips are driven by the driving structure to reciprocate in the fingertip direction of the tail-end knuckles, effective stretching and retracting of the fingernails are achieved, different grabbing structures are provided for different grabbing requirements, and the adaptability of the tail-end knuckles to the environment is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a retractable fingernail for the distal phalanx. Background Technology

[0002] Currently, dexterity hands on the market often fail to effectively grasp small objects due to the large grasping surface of the fingertips at the ends of the fingers. Therefore, dexterity hands have begun to incorporate fingernails in their design.

[0003] However, in practical use, because these types of nails are fixed in place and mostly made of hard materials, they are easily damaged when they come into contact with soft or fragile items. They also suffer from poor dexterity; for example, when performing delicate tasks (such as handicrafts, food handling, touchscreen work, typing, etc.), the presence of the nails can affect the efficiency and accuracy of the operation.

[0004] Therefore, there is an urgent need for a new type of nail structure for dexterous hands. Utility Model Content

[0005] To address the problems existing in the prior art, this utility model provides a retractable nail for the distal phalanx. By setting the nail on the distal phalanx and extending the outer edge of the nail beyond the fingertip edge of the distal phalanx, precise grasping operations are effectively achieved. Simultaneously, the nail is connected to a driving structure, which drives the fingertip to reciprocate along the fingertip direction of the distal phalanx, achieving effective extension and retraction of the nail. This provides different grasping structures for different grasping needs, effectively expanding the adaptability of the distal phalanx to the environment.

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

[0007] A retractable nail for the distal phalanx includes a drive structure, a distal phalanx, and a nail. The drive structure is connected to the nail, and the drive structure drives the nail to reciprocate along the fingertip direction of the distal phalanx. When the nail is in an extended state, the outer edge of the nail extends beyond the fingertip outer edge of the distal phalanx.

[0008] Furthermore, a sensor is provided on the fingernail to sense the pressure applied to the fingernail.

[0009] Furthermore, the sensor includes a displacement part and a sensing part, the displacement part being disposed on the fingernail, and the sensing part and the displacement part being disposed correspondingly.

[0010] Furthermore, the drive structure and the nail are integrated into one unit.

[0011] Furthermore, the sensor and the drive structure are electrically connected.

[0012] Furthermore, a first limiting structure is provided between the distal phalanx and the driving structure. The first limiting structure includes a first limiting opening and a first limiting protrusion. The first limiting opening is provided in one of the distal phalanx and the driving structure, and the first limiting protrusion is provided in the other of the distal phalanx and the driving structure.

[0013] Furthermore, a second limiting structure is provided between the driving structure and the nail, one of the driving structure and the nail is provided with a second limiting opening, and the other of the driving structure and the nail is provided with a second limiting protrusion.

[0014] Furthermore, it includes an elastic element disposed between the sensing part and the displacement part.

[0015] Furthermore, the minimum critical distance between the sensing part and the displacement part is 0.1 mm.

[0016] Furthermore, the drive structure includes a power source and a drive component, the output end of the power source is connected to the input end of the drive component, and the output end of the drive component drives the nail to extend and retract.

[0017] Compared with the prior art, the present invention has the following beneficial technical effects:

[0018] This invention provides a retractable nail for the distal phalanx. By setting the nail on the distal phalanx and extending its outer edge beyond the fingertip edge, it effectively enables precise grasping operations. Simultaneously, the nail is connected to a driving structure, which drives the fingertip to reciprocate along the fingertip direction of the distal phalanx, achieving effective nail extension and retraction. This provides different grasping structures for different grasping needs, effectively expanding the adaptability of the distal phalanx to the environment.

[0019] Furthermore, this utility model provides a retractable nail for the distal phalanx with a sensor installed on it. Through the connection between the nail and the sensor, the sensor can sense the pressure on the nail, allowing the operator to adjust the retractability of the nail based on the pressure changes.

[0020] Furthermore, the present invention provides a sensor for a retractable fingernail at the end of the phalanx, comprising a displacement part and a sensing part. By setting the displacement part and the sensing part as separate sensors, the accuracy of the sensor in sensing the pressure on the fingernail is effectively guaranteed.

[0021] Furthermore, this utility model provides an integrated design of the nail and drive structure in a retractable nail for the distal phalanx. This integrated design ensures the stability and real-time nature of the nail's extension and retraction, thereby effectively improving the nail's strength.

[0022] Furthermore, this utility model provides a retractable nail for the distal phalanx, in which the sensor and the drive structure are electrically connected. The drive structure receives the electrical signal from the sensor and can adjust the extension and retraction of the nail at different times according to the pressure state of the nail, thereby effectively improving the real-time performance of the nail extension and retraction.

[0023] Furthermore, this utility model provides a retractable nail for the distal phalanx, including a first limiting structure. The first limiting structure restricts the travel of the driving structure along the fingertip direction of the distal phalanx, while simultaneously ensuring the connection stability between the driving structure and the distal phalanx. In practical use, the travel distance of the nail can be limited by restricting the size of the first limiting opening, thereby controlling the safety and effectiveness of nail extension and retraction.

[0024] Furthermore, this utility model provides a retractable nail for the distal phalanx, including a second limiting structure. The second limiting structure restricts the travel of the nail along the fingertip direction of the distal phalanx. The size of the second limiting opening can ensure the stability of the nail movement.

[0025] Furthermore, this utility model provides a retractable fingernail for the distal phalanx, including an elastic element. By setting the elastic element between the sensing part and the displacement part, the sensitivity of the displacement part to actual contact can be effectively improved, thereby effectively improving the sensing accuracy of the sensor. At the same time, the elastic element provides a certain elastic margin between the displacement part and the sensing part, effectively ensuring that after the fingernail extends, it provides a stroke margin when grasping different objects, thereby effectively ensuring the safety of grasping.

[0026] Furthermore, in the retractable nail for the distal phalanx provided by this invention, the minimum critical distance between the sensing part and the displacement part is controlled to 0.1mm, which can ensure that the sensing part effectively senses the displacement part, thereby improving the sensing accuracy of the sensor. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A top view of a retractable nail for the distal phalanx in the extended state, provided as a preferred embodiment of the present invention;

[0029] Figure 2A top view of a retractable nail for the distal phalanx in its maximum extended state, according to a preferred embodiment of the present invention.

[0030] Figure 3 A top view of a retractable nail for the distal phalanx in a retracted state, provided as a preferred embodiment of the present invention;

[0031] Figure 4 This is a structural diagram of a retractable fingernail for the distal phalanx in its working state, provided as a preferred embodiment of the present invention.

[0032] In the figure: 1. Drive structure; 11. Power source; 12. Drive component; 2. End phalanx; 3. Fingernail; 4. Sensor; 41. Displacement part; 42. Sensing part; 5. First limiting structure; 51. First limiting port; 52. First limiting protrusion; 6. Second limiting structure; 61. Second limiting port; 62. Second limiting protrusion; 7. Third limiting structure; 8. Elastomer. Detailed Implementation

[0033] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0034] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0035] Furthermore, 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0038] In a preferred embodiment of this utility model, a retractable nail for the distal phalanx is provided, such as... Figures 1 to 4 As shown, it includes a drive structure 1, a nail 3, and a distal phalanx 2; the drive structure 1 and the nail 3 are disposed on the distal phalanx 2, and the drive structure 1 drives the nail 3 to reciprocate along the fingertip direction of the distal phalanx 2, thereby realizing the extension and retraction of the nail 3. Simultaneously, when the nail 3 is extended, as... Figure 1 , Figure 2 As shown, the outer edge of the fingernail 3 extends beyond the outer edge of the fingertip of the distal phalanx 2. This allows for precise grasping of small objects when the fingernail is extended.

[0039] In this preferred embodiment, the driving structure 1 is disposed inside the distal phalanx 2. The driving structure 1 drives the nail 3 to reciprocate along the axial direction of the distal phalanx 2. The axes of the driving structure 1 and the distal phalanx 2 are parallel to each other, thereby improving the extension and retraction stability and stroke controllability of the nail 3.

[0040] In this preferred embodiment, a sensor 4 is provided on the fingernail 3. The sensor 4 senses the pressure applied to the fingernail 3, thereby detecting the state of the fingernail 3. In this embodiment, multiple sensors 4 can be provided depending on the actual size of the fingernail 3 and the different detection requirements, thus achieving accurate measurement of the pressure applied to the fingernail 3. Furthermore, the sensor 4 provided by this invention can employ sensor structures based on principles such as resistance, capacitance, optics, strain gauges, and magnetoelasticity. The sensor 4 structure effectively realizes the sensing of surface forces.

[0041] In this preferred embodiment, such as Figure 3As shown, the sensor 4 includes a displacement part 41 and a sensing part 42. The displacement part 41 is disposed on the fingernail 3, and the sensing part 42 is correspondingly disposed to ensure that the sensing part 42 can sensitively capture the minute displacements generated by the displacement part 41. Furthermore, in this embodiment, the distance between the sensing part 42 and the displacement part 41 is 0.1 mm, which effectively ensures the sensitivity and anti-interference capability of the sensing. In this embodiment, the sensor 4 can employ resistive, capacitive, or optical structures, and the split-type force sensor 4 structure can obtain a more accurate force value on the fingernail 3.

[0042] In this preferred embodiment, the displacement part 41 is a magnetic element and the sensing part 42 is a magnetic induction chip. Through the correspondence between the magnetic element and the magnetic induction chip, the magnetic induction chip accurately senses the displacement of the magnetic element, thereby effectively ensuring the sensing accuracy of the sensor 4.

[0043] In this preferred embodiment, the driving structure 1 and the nail 3 are integrally arranged. The integral arrangement of the driving structure 1 and the nail 3 ensures the real-time performance of the drive and improves the stability of the structure, thereby ensuring the real-time extension and retraction of the nail 3.

[0044] In this preferred embodiment, such as Figure 1 , Figure 2 As shown, when the driving structure 1 and the nail 3 are separately arranged, the sensor 4 is disposed between the nail 3 and the driving structure 1; wherein, the displacement part 41 is disposed on the nail 3, and the sensing part 42 is correspondingly disposed on the driving structure 1, and the information of the displacement part 41 is accurately sensed by the sensing part 42. Specifically, when a magnetic induction sensor 4 is used, the magnetic element is disposed on the nail 3, and the magnetic induction chip is disposed on the driving structure 1, and the displacement of the magnetic element is accurately sensed by the magnetic induction chip, and the magnetic element accurately senses the actual force on the nail 3.

[0045] In this preferred embodiment, the sensor 4 and the driving structure 1 are electrically connected. The driving structure 1 provides feedback on the signal from the sensor 4. During actual sensing of the nail 3, changes in the signal from the sensor 4 are used to adjust the extension and retraction of the nail 3 via the driving structure 1. This effectively improves the utilization of the sensor 4 in this invention and greatly enhances the real-time performance of the adjustment. It also expands the practical application environment of this invention.

[0046] In this preferred embodiment, such as Figures 1 to 4As shown, a first limiting structure 5 is provided between the distal phalanx 2 and the driving structure 1. The first limiting structure 5 includes a first limiting port 51 and a first limiting protrusion 52. The actual driving stroke of the driving structure 1 is limited by the axial length of the first limiting port 51 along the distal phalanx 2, thereby ensuring the travel range between the distal phalanx 2 and the nail 3.

[0047] In this preferred embodiment, multiple first limiting structures 5 are provided, and the structural stability between the distal phalanx 2 and the nail 3 is ensured by multiple first limiting structures 5.

[0048] In this preferred embodiment, the first limiting port 51 is disposed on the driving structure 1, and the first limiting protrusion 52 is disposed on the distal phalanx 2. The stable structure between the first limiting protrusion 52 and the distal phalanx 2 further ensures the safety and stability between the driving structure 1 and the distal phalanx 2.

[0049] In this preferred embodiment, such as Figures 1 to 4 As shown, a second limiting structure 6 is provided between the driving structure 1 and the fingernail 3. The second limiting structure 6 includes a second limiting opening 61 and a second limiting protrusion 62. The cooperation between the second limiting opening 61 and the second limiting protrusion 62 ensures the displacement margin of the fingernail 3, thereby effectively controlling the safety and stability of the fingernail 3 when it extends to grasp.

[0050] In this preferred embodiment, the second limiting port 61 is configured as a slot structure. By setting a slot on the driving structure 1, and setting a second limiting protrusion 62 at the position corresponding to the slot of the fingernail 3 and the driving structure 1, the relative positional relationship between the fingernail 3 and the driving structure 1 is effectively guaranteed by the structure of the slot and the second limiting protrusion 62.

[0051] In this preferred embodiment, multiple second limiting structures 6 are provided, and the multiple second limiting structures 6 are symmetrically arranged along the driving structure 1, thereby effectively ensuring the relative stability of the displacement between the nail 3 and the driving structure 1.

[0052] In this preferred embodiment, such as Figures 1 to 4 As shown, a third limiting structure 7 is provided on the distal phalanx 2. The third limiting structure 7 surrounds the drive structure 1 and the nail 3 in the contracted state. The third limiting structure 7 further provides structural stability for the drive structure 1 and the nail 3. When the drive structure 1 and the nail 3 are placed on the distal phalanx 2, the third limiting structure 7 provides effective support for the actual distal phalanx 2 and the nail 3.

[0053] In this preferred embodiment, such as Figure 1 , Figure 4 As shown, an elastic body 8 is provided between the sensing part 42 and the displacement part 41. The elastic body 8 provides an elastic margin for the movement of the displacement part 41, effectively improving the sensitivity and accuracy of detection.

[0054] In this preferred embodiment, the elastic body 8 is disposed in the second limiting opening 61 of the second limiting structure 6, and the elastic displacement direction of the elastic body 8 is consistent with the movement direction of the fingernail 3.

[0055] In this preferred embodiment, multiple elastic bodies 8 are provided, and the elastic bodies 8 are symmetrically arranged along the sensor 4 to ensure the structural stability of the sensor 4 and thus effectively improve the real-time performance of the sensing.

[0056] In this preferred embodiment, the sensor 4 and the PCB board are electrically connected. The electrical connection structure of the PCB board ensures the real-time transmission of information from the sensor 4.

[0057] In this preferred embodiment, such as Figure 3 As shown, the drive structure 1 includes a power source 11 and a drive component 12. The output end of the power source 11 is connected to the input end of the drive component 12, and the output end of the drive component 12 is connected to the fingernail 3. The power source 11 provides kinetic energy to the drive component 12 to drive the drive component 12 to reciprocate along the fingertip direction of the distal phalanx 2.

[0058] In this preferred embodiment, the drive assembly 12 adopts a worm gear structure. The power source 11 drives the worm gear to rotate clockwise, pushing the nail 3 outwards. When it is necessary to retract the nail 3, the worm gear reverses direction, causing the nail 3 to retract. This effectively ensures that the drive structure 1 has effective control over the extension and retraction of the nail 3.

[0059] This invention provides a retractable nail for the distal phalanx. By setting a nail 3 on the distal phalanx 2, with the outer edge of the nail 3 extending beyond the fingertip of the distal phalanx 2, precise grasping operations are effectively achieved. Simultaneously, the nail 3 is connected to a drive structure 1, which drives the fingertip to reciprocate along the fingertip direction of the distal phalanx 2, achieving effective extension and retraction of the nail 3. This provides different grasping structures for different grasping needs, effectively expanding the adaptability of the distal phalanx 2 to the environment.

[0060] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0061] 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 be appropriately combined to form other embodiments that can be understood by those skilled in the art. The above content is only for illustrating the technical concept of this utility model and should not be used to limit the scope of protection of this utility model. Any modifications made to the technical solutions based on the technical concept proposed by this utility model shall fall within the scope of protection of the claims of this utility model.

Claims

1. A retractable nail for the distal phalanx, characterized in that, It includes a drive structure (1), a terminal phalanx (2), and a nail (3). The drive structure (1) and the nail (3) are connected. The drive structure (1) drives the nail (3) to reciprocate along the fingertip direction of the terminal phalanx (2). When the nail (3) is in the extended state, the outer edge of the nail (3) extends beyond the fingertip outer edge of the terminal phalanx (2).

2. A retractable nail for the distal phalanx according to claim 1, characterized in that, A sensor (4) is provided on the fingernail (3) to sense the pressure on the fingernail (3).

3. A retractable nail for the distal phalanx according to claim 2, characterized in that, The sensor (4) includes a displacement part (41) and a sensing part (42). The displacement part (41) is disposed on the fingernail (3), and the sensing part (42) and the displacement part (41) are disposed correspondingly.

4. A retractable nail for the distal phalanx according to claim 1, characterized in that, The drive structure (1) and the nail (3) are integrally formed.

5. A retractable nail for the distal phalanx according to claim 2, characterized in that, The sensor (4) and the drive structure (1) are electrically connected.

6. A retractable nail for the distal phalanx according to claim 1, characterized in that, A first limiting structure (5) is provided between the distal phalanx (2) and the driving structure (1). The first limiting structure (5) includes a first limiting port (51) and a first limiting protrusion (52). The first limiting port (51) is provided on one of the distal phalanx (2) and the driving structure (1), and the first limiting protrusion (52) is provided on the other of the distal phalanx (2) and the driving structure (1).

7. A retractable nail for the distal phalanx according to claim 1, characterized in that, A second limiting structure (6) is provided between the driving structure (1) and the nail (3), and a second limiting port (61) is provided on one of the driving structure (1) and the nail (3), while a second limiting protrusion (62) is provided on the other of the driving structure (1) and the nail (3).

8. A retractable nail for the distal phalanx according to claim 3, characterized in that, It includes an elastic element (8) disposed between the sensing part (42) and the displacement part (41).

9. A retractable nail for the distal phalanx according to claim 3, characterized in that, The minimum critical distance between the sensing part (42) and the displacement part (41) is 0.1 mm.

10. A retractable nail for the distal phalanx according to claim 1, characterized in that, The drive structure (1) includes a power source (11) and a drive component (12). The output end of the power source (11) is connected to the input end of the drive component (12). The output end of the drive component (12) drives the nail (3) to extend and retract.

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