WO2017084639A1 - 假肢手的一般假肢手指的安装结构 - Google Patents
假肢手的一般假肢手指的安装结构 Download PDFInfo
- Publication number
- WO2017084639A1 WO2017084639A1 PCT/CN2016/110362 CN2016110362W WO2017084639A1 WO 2017084639 A1 WO2017084639 A1 WO 2017084639A1 CN 2016110362 W CN2016110362 W CN 2016110362W WO 2017084639 A1 WO2017084639 A1 WO 2017084639A1
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- WIPO (PCT)
- Prior art keywords
- finger
- thumb
- knuckle
- prosthetic
- proximal
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5007—Prostheses not implantable in the body having elastic means different from springs, e.g. including an elastomeric insert
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5038—Hinged joint, e.g. with transverse axle restricting the movement
- A61F2002/5043—Hinged joint, e.g. with transverse axle restricting the movement with rotation-limiting stops, e.g. projections or recesses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5067—Prostheses not implantable in the body having rolling elements between articulating surfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2220/00—Fixations or connections for prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
- A61F2220/0025—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
Definitions
- the present invention relates to a bionic hand, and more particularly to a prosthetic hand, a finger thereof and a partial structure thereof that can be used for a disabled person.
- the human hand generally has five fingers, which are thumb, index finger, middle finger, ring finger and little finger in turn.
- the movement rules of the other four fingers are basically the same except that the thumb has a special movement rule.
- Each finger is divided into three knuckles, which in turn are the basal knuckles, the proximal phalanx and the distal knuckles, which are connected by joints at corresponding positions, and the nails are long on the distal knuckles.
- the most prolific prosthetic hand on the market was the single free holiday hand of the German OTTOBOCK company.
- This type of prosthetic hand only has the basic opening and closing function.
- the basic working principle is: the EMG signal sensor is sensitive to the disabled.
- the motion demand sends the corresponding signal to the microcontroller, and the microcontroller issues a control command to operate the micro-motor.
- the micro-motor drives the prosthetic finger movement through the mechanical transmission chain, thereby realizing the opening and closing of the prosthetic hand.
- the mechanical transmission of the base finger joint often uses cable (rope) transmission, bevel gear auxiliary drive, worm gear drive or sliding screw drive, etc.
- the mechanical transmission of the proximal knuckle often uses cable (rope) drive, connecting rod drive or gear Vice drive, etc.
- Different combinations of base knuckle transmission chain and proximal knuckle transmission chain can form different product.
- the finger-base joint of a prosthetic hand uses a worm gear transmission
- the proximal knuckle uses a cable (rope) transmission
- the finger joint of the other prosthetic hand uses a sliding spiral.
- the auxiliary drive and the proximal knuckle are connected by a connecting rod.
- an existing iLim prosthetic hand has a wire of a finger DC motor connected to a wire output of a knuckle joint mounting frame.
- the wire output device fixes the sleeve, slides the guide pin, and compresses the spring.
- the structure is complicated, it is difficult to miniaturize, and it occupies the design space.
- the structure and shape of the finger coupler are complicated, including the conductive column which is in contact with the sliding guide pin of the finger, and the base joint cover with complicated shape.
- the base finger joints of the prosthetic finger have many components, and the assembly relationship is complicated. It is difficult to effectively and accurately position the components, and the assembly is difficult.
- the base joint structure of some existing prosthetic fingers has a simple assembly structure. The work reliability of the basal knuckles is poor and prone to failure.
- Some existing prosthetic fingers have a complicated connection structure between the base knuckle and the base joint of the prosthetic finger, and the finger base knuckle is difficult to assemble onto the base joint structure, and cannot be assembled simply and efficiently.
- proximal finger joints use the existing prosthetic finger of the cable transmission, and the proximal end of the transmission rope is connected to the worm wheel, but the specific connection structure adopted is not convenient for assembly, and the proximal end of the transmission rope is also prone to fall off. Not conducive to the reliable use of prosthetic hands.
- Some existing prosthetic fingers have a cable transmission on the proximal knuckle. Frequent flexion and indexing operations are easy to cause the transmission rope to be rubbed and scraped on the finger base knuckles. It is easy to wear or break the transmission rope for a long time. , affecting the service life of the cable drive mechanism.
- Some existing prosthetic fingers have a tension spring connection between the proximal phalanx of the finger and the finger base knuckle to achieve automatic reset of the finger near the knuckle when the finger is extended, and the end of the tension spring is fixed. The way the connection is made, so the tension spring is frequently subjected to tension and bending The composite action of the moment, the long-term use will cause the tensile spring to undergo bending and residual deformation. This will cause the prosthetic finger to appear flexion and the index finger is not in place, reducing the performance of the prosthetic finger and the prosthetic hand.
- Some existing prosthetic fingers do not distinguish between the distal knuckles of the fingers and the proximal phalanx of the fingers. It is not convenient for the assembly of the proximal phalanx and other parts of the finger, or the finger near the knuckles and the fingers. The connection is made by end face fitting, and then connected by other connecting members, the reliability of the connection is poor, and the structure is not beautiful enough.
- the existing prosthetic finger has the aforementioned problems due to its partial structure, resulting in poor reliability of the entire prosthetic finger and inconvenient assembly.
- the design of the prosthetic thumb may not be considered.
- the structure between the proximal phalanx and the thumb phalanx of the thumb is quite different from that of the finger proximal phalanx and the distal phalanx of the finger of the general prosthetic finger (non-thumb). This requires a special design and manufacture of the structure of the thumb, or the need to specifically design and manufacture the structure of the thumb near the knuckles and the thumb-based knuckles.
- the difference between the prosthetic thumb and the general prosthetic finger will result in additional work and processing costs, zero
- the versatility of the components is also poor, which is not conducive to reducing costs.
- the thumb has two postures, that is, the palm and the side palm. Therefore, the prosthetic thumb needs to perform the posture rotation motion, but the existing prosthetic thumb adopts the mounting structure, and the wire connecting the motor is drawn from the side, so that the prosthetic thumb is working.
- the palm and palm postures are switched, the wire is pulled, and the long-term use will cause the wire to break. In fact, the wire break of the prosthetic thumb is a frequent failure.
- the existing prosthetic thumb has the above-mentioned problems due to its partial structure, resulting in high cost of the prosthetic finger, easy failure, and poor work reliability;
- the mounting structure of the general prosthetic finger (the other four prosthetic fingers other than the thumb) is: a finger axial single screw connection between the finger joint of the prosthetic finger and the prosthetic hand, Generally, when the finger is straight, the single axial screw of the finger is the same as the pointing of the finger, the connection is unreliable, and the short-term use will cause the connection to be loose.
- the existing prosthetic hand due to the partial structure described above, causes the prosthetic hand to have poor reliability and high cost.
- the object of the present invention is to provide a general prosthetic finger mounting structure for an existing prosthetic hand.
- the present invention provides a mounting structure for a general prosthetic finger of a prosthetic hand, characterized in that it comprises a prosthetic hand substrate, a finger coupler and a finger mounting frame of a general prosthetic finger;
- a stepped hole is disposed in the finger coupler, and a stepped pull nut is located in the stepped hole, the prosthetic hand substrate is located on a side of the large diameter end of the tension nut, the finger mounting machine The frame is located on a side of the small diameter end of the tension nut;
- a finger substrate coupling screw mounting hole is disposed on the prosthetic hand substrate corresponding to the internal thread of the tension nut, and the finger substrate coupling screw is disposed in the finger substrate coupling screw mounting hole and connected to the internal thread of the tension nut ;
- a finger insertion screw mounting hole is disposed on the finger mounting frame corresponding to the internal thread of the tension nut, and a finger coupling screw is disposed in the finger coupling screw mounting hole and connected to the internal thread of the tension nut;
- the axis of the finger coupling screw is perpendicular to the orientation of the general prosthetic finger.
- the main beneficial effect of the above technical solution provided by the present invention is that it uses a finger coupling, a stepped tension nut, a finger coupling screw and a finger substrate coupling screw to couple the general prosthetic finger and the prosthetic hand substrate, and the axis of the finger coupling screw Vertical to the pointing of the finger of the general prosthetic, the connection is reliable and not easy to loose.
- FIG. 1 is a schematic structural view of a prosthetic finger according to an embodiment of the present invention.
- FIG. 2 is a cross-sectional structural view of a distal knuckle of a finger according to an embodiment of the present invention
- FIG. 3 is a cross-sectional structural view of a finger near phalanx according to an embodiment of the present invention
- FIG. 4 is a cross-sectional structural view of a finger-based phalanx according to an embodiment of the present invention.
- Figure 5 is a partial enlarged view of the proximal phalanx of the finger of Figure 1 and its vicinity;
- Figure 6 is a partial enlarged view corresponding to Figure 5 when the finger near the phalanx is rotated relative to the finger base knuckle;
- Figure 7 is a partial enlarged view of the base joint frame of Figure 1 and its vicinity;
- FIG. 8 is a cross-sectional structural view of a base joint frame according to an embodiment of the present invention.
- FIG. 9 is a schematic structural view of a motor reducer assembly according to an embodiment of the present invention.
- Figure 10 is a schematic structural view of a worm according to an embodiment of the present invention.
- Figure 11 is a schematic structural view of a worm wheel according to an embodiment of the present invention.
- FIG. 12 is a schematic structural view of a prosthetic thumb according to an embodiment of the present invention.
- Figure 13 is a schematic view showing the structure of a prosthetic hand according to an embodiment of the present invention.
- the orientation words mentioned in the embodiment are explained: on the prosthetic finger and the specific component parts, the “distal” refers to the end near the fingertip of the finger. “Proximal” is the opposite of “distal”, “near end” refers to the end of the finger near the base of the finger (or the base of the finger or the palm of the hand); the “upper” that represents the orientation, when the finger is straight, the finger is on the back of the hand The orientation corresponding to the orientation; the “lower” representing the orientation refers to the orientation on the finger corresponding to the orientation of the palm; the “side” representing the orientation refers to the other two orientations that are neither “up” nor “down”, ie, phase The orientation of the adjacent finger; the “side of the adjacent finger” refers to the “side”, that is, the side of the finger facing the adjacent finger, not “up” or “down”.
- each component of the prosthetic finger of the present embodiment will be described first
- the base finger joint of the prosthetic finger mainly performs the function similar to the base knuckle of the human hand.
- the base knuckle joint of the human hand is used to connect the finger base knuckle and the palm, so that the finger base knuckle and the palm are rotatably connected.
- the basal knuckle structure of the prosthetic finger of the embodiment of the present invention can be specifically referred to FIG. 7 to FIG. 11 in the drawings of the specification.
- the component 401 is fixed with a first bevel gear 402 on the output shaft journal 4014 of the motor reducer assembly 401, and a worm 404 is mounted on the base joint frame 4 through the hole with a circlip 407 and two sliding bearings, in the worm
- a second bevel gear 403 is fixed on the input shaft journal 4043 of the 404, the second bevel gear 403 is meshed with the first bevel gear 402, and the base joint frame 4 has an open slot 44.
- the worm wheel 2 is located in the open slot 44, and the worm wheel 2 is The worm 404 is engaged, and the rotating shaft is disposed on the base joint frame 4 and the worm wheel 2.
- the base finger joint structure of the prosthetic finger provided by the embodiment can be similar to The function of the finger-based knuckle is that the worm wheel 2 is mounted through the open slot 44, and the rotating shaft is simultaneously disposed on the base joint frame 4 and the worm wheel 2.
- the opening groove 44 can restrain the worm wheel 2 to rotate smoothly, and the elastic hole is passed through the hole.
- the ring 407 and the two sliding bearings are equipped with a worm 404, so that the worm 404 is flexibly rotated and reliably positioned, which reduces the difficulty of assembly and improves the operational reliability of the basal joint structure.
- the base joint frame 4 includes a motor reducer assembly mounting portion 41, a worm mounting portion 42 and two shaft insertion portions 43, and the motor reducer assembly mounting portion 41 and the worm mounting portion 42 pass through the two shaft insertion portions 43.
- the ventilator assembly 401 is fixed to the motor reducer assembly mounting portion 41, and the worm 404 is mounted in the worm mounting portion 42 and is disposed on the worm wheel 2
- the rotating shaft through hole 211 is provided with a rotating shaft through hole 431 on the corresponding rotating shaft through hole 211.
- the rotating shaft is disposed in the rotating shaft through hole 211 and the two rotating shaft through concentric holes 431.
- a motor reducer assembly mounting hole (411) is provided in the motor reducer assembly mounting portion (41), and the motor is decelerated
- the assembly (401) includes a motor (4011) to which a reducer (4012) is attached, and a mounting neck (4013) is provided on the reducer (4012), the mounting neck (4013)
- the diameter of the reducer (4012) is smaller than the diameter of the reducer (4012) extending from the mounting neck (4013), and the mounting neck (4013) is fixed to the motor reducer assembly Installed in the hole (411).
- the mounting neck 4013 of the motor reducer assembly 401 is fixed, and the motor reducer assembly mounting hole (411) has a simple structure.
- a worm main body accommodating cavity 421, a sliding bearing mounting hole 422, and a worm journal receiving hole 423 are sequentially provided in communication with each other in the worm mounting portion 42, and the diameter of the sliding bearing mounting hole 422 is smaller than that of the worm main body.
- the diameter of the accommodating cavity 421, the diameter of the worm journal receiving hole 423 is smaller than the diameter of the sliding bearing mounting hole 422, the end of the worm main body accommodating cavity 421 is open, and the damper is provided in the ring direction on the cavity wall of the worm main body accommodating cavity 421.
- the ring mounting groove 4211, the worm 404 includes a worm main body portion 4041, the worm wheel 2 meshes with the worm main body portion 4041, and the bearing mounting journal 4042 is integrally coupled to both ends of the worm main body portion 4041, and one of the bearing mounting journals 4042 is integrated
- the input shaft journal 4043 is connected to the ground, and the two sliding bearings are respectively the first sliding bearing 405
- the second sliding bearing 406 the worm main body portion 4041 is located in the worm main body receiving cavity 421
- the first sliding bearing 405 is located in the sliding bearing mounting hole 422
- the second sliding bearing 406 is located in the worm main body receiving cavity 421
- the worm main body portion 4041 is located between the first sliding bearing 405 and the second sliding bearing 406, two bearing mounting journals 4042 are respectively disposed in the first sliding bearing 405 and the second sliding bearing 406, and holes are provided in the circlip mounting groove 4211.
- the circlip 407, the second sliding bearing 406 is located between the worm main body portion 4041 and the hole circlip 407.
- the structure of each component of the worm wheel and the worm wheel mounting part is refined (for example, by using various holes and slots in the structure to realize component mounting and constraining positioning), the structure is simple, easy to assemble, and reliable in operation.
- the first sliding bearing 405 can be first loaded into the sliding bearing mounting hole 422 from the open end of the worm main body accommodating chamber 421, the worm 404 is placed, and then the second sliding bearing 406 is mounted, and finally The mounting hole completes the positioning assembly of the worm 404 with the circlip 407.
- the rotating shaft of the embodiment is a hollow shaft 3, and a finger tail cover 408 is connected to the base joint frame 4, and the finger tail cover 408 covers the first bevel gear 402 and the second bevel gear 403, and the finger tail cover 408
- the finger tail cover 408 covers the first bevel gear 402 and the second bevel gear 403, and the finger tail cover 408
- the finger tail cover 408 can shield the connection position of the two bevel gears, and the hollow shaft 3 on the rotating shaft can play the role of reducing the weight while ensuring the structural strength, and on the other hand, the finger tail cover 408 is also assisted.
- the assembly, clever use of the plug posts on the finger tail cover 408 enables the assembly of the finger tail cover 408.
- the output shaft journal 4014 and the input shaft journal 4043 are both D-shaped journals, and the first bevel gear 402 and the second bevel gear 403 each have a D-shaped central hole, and the first bevel gear 402
- the D-shaped central hole is sleeved on the D-shaped journal of the output shaft journal 4014, and the D-shaped central hole of the second bevel gear 403 is sleeved on the input shaft journal 4043.
- the D-shaped central hole is matched with the D-shaped section journal, and the D-shaped section hole axis constraint is used to realize the assembly of the bevel gear, which further simplifies the assembly difficulty.
- the central axis of the output shaft journal 4014 of the present embodiment is orthogonal to the central axis of the input shaft journal 4043.
- the central axis of the motor reducer assembly mounting hole 411 is orthogonal to the central axis of the sliding bearing mounting hole 422.
- a finger base is fixed on the base joint frame 4
- the knuckle 5, the worm wheel 2 is fixed to the finger mounting frame 1.
- the finger base knuckle 5 of the prosthetic finger is fixed relative to the base joint frame 4.
- FIG. 4, FIG. 7 and FIG. 8 for the connection structure of the base knuckle and the base joint of the prosthetic finger of the embodiment of the present invention, reference may be made to FIG. 4, FIG. 7 and FIG. 8 in the drawings of the specification.
- the connection structure of the base knuckle and the base joint of the prosthetic finger provided by the embodiment of the invention includes a base joint frame 4 and a finger base knuckle 5, and the base joint frame 4 includes a motor reducer assembly mounting portion 41, which is decelerated in the motor
- the motor assembly mounting portion 41 is provided with a motor reducer assembly mounting hole 411, a part of the motor reducer assembly 401 is fixed in the motor reducer assembly mounting hole 411, and the finger base knuckle 5 includes a base knuckle main body 51, the base knuckle main body 51 has a cavity for accommodating the motor reducer assembly 401, and a sector-shaped flange 412 is provided on the upper outer wall of the motor reducer assembly mounting portion 41, and a slot 511 is provided in the corresponding knurled flange 412 on the base knuckle body 51.
- a portion of the base knuckle body 51 is sleeved over a portion of the motor reduce
- connection structure of the base knuckle and the base joint of the prosthetic finger utilizes the slot 511 on the base knuckle body 51 and the sector flange 412 on the motor reducer assembly mounting portion 41 of the base joint frame 4.
- the assembly is assembled in a set manner, and the mutual positioning of the two is easy to implement, and the assembly structure is simple.
- a base knuckle screw threaded hole (not shown) is disposed on the motor reducer assembly mounting portion 41.
- the axis of the base knuckle screw threaded hole is perpendicular to the axis of the motor reducer assembly 401, at the base knuckle
- the base knuckle screw threaded hole is provided with a base knuckle screw mounting hole 512 on the main body 51, and a base knuckle fixing screw (not shown) is inserted in the base knuckle screw mounting hole 512, and the base knuckle fixing screw Connected to the threaded hole of the base knuckle screw.
- the base knuckle fixing screw is further fixed and restrained from a plurality of different directions, and the base knuckle main body 51 is not easily detached from the motor reducer assembly mounting portion 41, and the fixing is more reliable.
- the head of the base knuckle fixing screw is located on the adjacent finger side of the base knuckle body 51.
- the head of the base knuckle fixing screw is located on the side of the finger of the finger, and the knuckle fixing screw can be concealed to some extent due to the shielding effect of the adjacent finger (for example, when the four fingers are straightened side by side). Enhanced aesthetics.
- the number of the base knuckle fixing screws in the embodiment is two.
- a limit flange 413 is provided on the motor reducer assembly mounting portion 41, and the proximal end of the base knuckle body 51 abuts against the limit flange 413.
- the limiting flange 413 can function as an auxiliary positioning to prevent axial turbulence of the base knuckle body 51.
- the worm gear and the proximal knuckle movement are driven by the prosthetic finger of the cable transmission, and the proximal end of the transmission rope needs to be connected to the worm wheel.
- connection structure of the worm wheel and the transmission rope of the prosthetic finger of the embodiment of the present invention reference may be made to FIG. 7 and FIG. 11 in the drawings of the specification.
- the connection structure of the worm wheel and the transmission rope of the prosthetic finger provided by the embodiment includes a transmission rope 9 and a worm wheel 2, and the worm wheel 2 includes a shaft connecting portion 21, and the shaft connecting portion 21 is integrally connected with the shaft for connecting the rope 9 a rope pulling portion 22, an engaging portion 23 for engaging with the worm 404, and a worm wheel fixing portion 24 for fixedly connecting with the finger fixing frame 1, and a gap portion is provided between the engaging portion 23 and the rope pulling portion 22.
- the hole 25 is mounted with a grommet 251 in the slotted hole 25, and the proximal end of the transmission rope 9 is a double-line structure in which a single line is folded in half.
- the proximal end of the transmission rope 9 is sleeved at the reduced diameter of the grommet 251 with a notch.
- the edge of the hole of the circular hole 25 is caught at the reduced diameter of the grommet 251.
- the proximal end of the transmission rope 9 is connected by the circular hole 25 and the grommet 251, and the proximal end of the transmission rope 9 is a double line which is folded in a single line.
- the structure is simple to assemble, the transmission rope 9 is not easy to fall off, and the connection reliability is better.
- the gap of the circular opening 25 with a slit is a rounded transition.
- a rounded transition is used to avoid stabbing or cutting the drive rope 9, which can extend the service life of the drive rope 9.
- a rotating shaft through hole 211 is provided on the rotating shaft connecting portion 21, and an edge of the rope pulling portion 22 for contacting the driving rope 9 is substantially curved, and the curved arc is centered on the center of the rotating shaft through hole 211.
- the edge of the rope pulling portion 22 adopts an arc structure, and the arc of the arc is centered at the center of the rotating shaft hole 211, so that when the rope pulling portion 22 pulls the driving rope 9, the driving rope 9 is attached thereto.
- the curved edge is pulled, so that the transmission rope 9 has a large contact surface with the rope pulling portion 22, the force of the proximal end of the transmission rope 9 can be more uniform, and the transmission rope 9 can be protected and extended. The role of the service life.
- the worm wheel 2 of the present embodiment is fixed to the finger mounting frame 1, specifically, the worm wheel
- the fixed portion 24 is provided with a worm wheel fixing pin hole 241, and a worm wheel fixing pin 242 is bored in the worm wheel fixing pin hole 241, and the worm wheel fixing pin 242 is fixed on the finger mounting frame 1.
- the present embodiment employs two worm gear fixing pins 242.
- the drive cable in the cable drive structure of the prosthetic finger pulls the finger proximal to the knuckle to rotate it about the proximal knuckle.
- the drive rope needs to be protected during the flexion and indexing process.
- the cable transmission structure of the prosthetic finger provided by the embodiment includes a transmission rope 9 and a finger base knuckle 5, the transmission rope 9 penetrates the inner space of the finger base knuckle 5, and the finger base knuckle 5 includes the base knuckle main body 51, and the transmission The rope 9 is located at a lower portion in the base knuckle main body 51, and a roller pin 513 is fixed at a position corresponding to the drive rope 9 at a lower wall surface of the base knuckle main body 51.
- the axis of the roller pin 513 is perpendicular to the axis of the base knuckle main body 51,
- the roller pin 513 is fitted with a roller 514, and a part of the roller 514 projects into the space inside the wall surface of the base knuckle body 51.
- the cable drive structure of the prosthetic finger provided in this embodiment is provided with a roller pin 513 and a roller 514 corresponding to the drive rope 9 on the base knuckle body 51 of the finger base knuckle 5, and a part of the roller 514 extends into the base knuckle body 51.
- the transmission rope 9 of the present embodiment is a nylon rope. It can be made of high-strength nylon rope.
- the distal end of the drive rope 9 is connected to the proximal knuckle 6 of the finger, and the proximal end of the drive rope 9 is connected to the worm wheel 2.
- a drive cable connection post 613 is provided at the distal end of the finger near the knuckle 6, and the distal end of the drive cable 9 is coupled to the drive cable connection post 613.
- the drive rope connecting post 613 at the distal end of the finger near the knuckle 6 is used to facilitate the connection of the distal ends of the drive cable 9.
- the finger near phalanx 6 includes a convex head portion 61 and a proximal knuckle body 62 thicker than the convex head portion 61.
- the transmission rope connecting post 613 is disposed at the distal end of the convex head portion 61, and the convex head portion 61 is sleeved Finger far knuckles 7 at the finger
- the distal knuckle 7 is provided with a fitting portion 71 which is fitted over the convex head portion 61 and abuts against the proximal knuckle main body 62, and a part of the transmission rope 9 is sandwiched between the fitting portion 71 and the convex head portion 61.
- the fitting portion 71 can also function to press the transmission rope 9, further ensuring that the distal end of the transmission rope 9 is not easily peeled off.
- the worm wheel 2 In order to connect the proximal end of the drive cable 9 to the worm wheel 2, the worm wheel 2 includes a shaft coupling portion 21 to which a rope pull portion 22 for pulling the drive rope 9 is integrally coupled for engagement with the worm 404.
- the meshing portion 23 and the worm wheel fixing portion 24 for fixedly connecting with the finger fixing frame 1 are provided with a slit hole 25 between the meshing portion 23 and the rope pulling portion 22, and the hole portion 25 is provided with a slit hole 25.
- the grommets 251, the proximal end of the transmission rope 9 is a double-wire structure in which a single wire is folded in half.
- the proximal end of the transmission rope 9 is sleeved at the reduced diameter of the grommet 251, and the edge of the hole with the circular hole 25 is caught at the grommet 251. Reduced diameter.
- the proximal end of the drive rope 9 is connected by means of a circular opening 25 and a grommet 251, which is relatively simple to assemble, and the drive rope 9 is not easily detached.
- the finger near the phalanx of the prosthetic finger and the finger base knuckle need to be connected by elastic members, and the partial structure also needs to ensure the use performance.
- connection structure of the proximal phalanx and the base phalanx of the prosthetic finger of the present embodiment refer to FIG. 2 to FIG. 6 in the drawings of the specification.
- the connection structure of the proximal phalanx and the base phalanx of the prosthetic finger includes a finger base knuckle 5, a finger proximal knuckle 6 and a tension spring 8, and the finger proximal knuckle 6 is rotatably connected to the finger base
- a tension spring distal cylindrical pin 81 is fixed on the finger proximal knuckle 6
- a tension spring proximal cylindrical pin 82 is fixed on the finger base knuckle 5
- the axis of the proximal end cylindrical pin 82 of the tension spring is parallel to the axis of rotation of the finger near the knuckle 5, and the two ends of the tension spring 8 are respectively sleeved on the distal end cylindrical pin 81 of the tension spring and the proximal cylindrical pin 82 of the tension spring.
- connection structure of the proximal phalanx of the prosthetic finger and the basal phalanx of the prosthetic finger the two ends of the tension spring 8 are no longer fixedly connected, but the distal end of the tension finger is fixed on the proximal knuckle 6 of the finger. 81.
- two proximal knuckle connecting wings 621 are provided at the proximal end of the finger near the phalanx 6, corresponding to the two proximal knuckle connecting wings 621
- the proximal knuckle connecting wing concentric hole 6211 is provided, and the finger base phalanx 5 includes a base knuckle main body 51, and the inter-wing connecting portion 52 is integrally connected at the distal end of the base knuckle main body 51, and the width of the inter-wing connecting portion 52 is Less than the width of the base knuckle body 51, the wing connecting portion 52 is located between the two proximal knuckle connecting wings 621, and the convex joint cylinders are provided on both sides of the wing connecting portion 52 (not shown in the drawing) ), two proximal knuckle connecting wing concentric holes 6211 are respectively
- the structure of the proximal knuckle connecting wing 621, the proximal knuckle connecting wing concentric hole 6211, the wing connecting portion 52, and the hinged cylinder is rotatably connected, which reduces the number of parts, and these structures can be close to the finger in other directions.
- the movement of the knuckles 6 and the finger base knuckles 5 form a constraint that makes the connection more reliable and the rotation process more stable.
- two base knuckle connecting wings 521 are provided at the distal end of the inter-wing connecting portion 52, and the proximal end of the tension spring 8 is located between the two base knuckle connecting wings 521,
- a proximal end cylindrical pin mounting hole 5211 is formed on the base knuckle connecting wing 521, and the proximal end cylindrical pin 82 of the tension spring is bored and fixed in the proximal cylindrical pin mounting hole 5211 of the tension spring.
- a tension spring receiving groove 63 is provided on the finger near knuckle 6, and a tension spring is provided on the groove wall of the tension spring receiving groove 63.
- the end cylindrical pin mounting hole 631, the tension spring distal cylindrical pin 81 is bored and fixed in the distal end cylindrical pin mounting hole 631 of the tension spring.
- the distal edge of the base knuckle connecting wing 521 is a curved edge
- the finger near the knuckle 6 has an arcuate wall surface matching the curved edge
- an arcuate shutter 5212 along which the arcuate shutter 5212 is disposed and located above the proximal end of the tension spring 8.
- the finger near knuckle 6 and the finger base knuckle 5 adopt an arc-shaped fit, and the design of the curved shutter 5212 can reduce the gap above the near-finger joint, and to a certain extent, prevent the object from entering and being beautiful.
- connection structure of the distal knuckle and the proximal phalanx of the prosthetic finger of the present embodiment refer to FIG. 2 to FIG. 6 in the drawings of the specification.
- the connection structure of the distal knuckle and the proximal phalanx of the prosthetic finger provided by the embodiment includes a finger proximal phalanx 6 and a finger distal knuckle 7
- the finger proximal phalanx 6 includes a convex head 61 and a coarse convex head 61 .
- the proximal knuckle body 62 is provided with a set portion 71 on the distal knuckle 7 of the finger, and has a set cavity 711 matching the convex head portion 61 in the set portion 71.
- the convex head portion 61 is located in the set cavity 711, and the set portion 71 is placed over the convex head 61 and abuts the proximal knuckle body 62.
- the connecting structure of the distal knuckle and the proximal phalanx of the prosthetic finger provided by the embodiment is connected to each other by means of a set by using the structural features of the convex head 61, the proximal knuckle body 62, the set portion 71, and the set cavity 711.
- the convex head 61 is tapered.
- a convex head threaded hole 611 is disposed in the convex head portion 61.
- the axis of the convex head threaded hole 611 is perpendicular to the axis of the convex head portion 61, and the corresponding protruding portion threaded hole 611 is provided on the fitting portion 71.
- the knuckle screw mounting hole 712 is inserted through the distal knuckle screw mounting hole 712 and connected to the male threaded hole 611.
- the distal knuckle mounting screw 72 After the kit is further fixed by the distal knuckle mounting screw 72, and the direction of the distal knuckle mounting screw 72 is perpendicular to the axial direction of the convex head 61, not only the rotation of the fitting portion 71 but also the fitting portion 71 can be restricted.
- the axial movement of the convex head 61 which constrains the sheath portion 71 in a plurality of directions, makes the fixation between the finger near phalanx 6 and the finger distal knuckle 7 more reliable.
- the number of distal knuckle mounting screws 72 is two.
- the head of the distal knuckle mounting screw 72 is located on the adjacent finger side of the set portion 71.
- the head of the distal knuckle mounting screw 72 is located on the side of the finger, and the distal knuckle mounting screw 72 can be concealed to some extent due to the blocking action of the adjacent fingers (for example, when the four fingers are straightened side by side). Enhanced aesthetics.
- the distal knuckle mounting screw 72 is in such an orientation, other mechanisms (such as a cable drive mechanism and a spring return mechanism) on the prosthetic finger can be avoided.
- the distal knuckle mounting screw The arrangement of 72 avoids the drive rope 9 and the tension spring 8.
- a plurality of annular head annular grooves 612 are arranged on the outer circumferential surface of the convex head portion 61 in the circumferential direction.
- the grease and water can be prevented to a certain extent. Harmful substances such as dust penetrate into the fingers of the prosthetic finger.
- the movement of the proximal knuckle of the present embodiment adopts a cable transmission form.
- a transmission rope connecting column is integrally provided at the distal end of the convex head 61. 613, one end of the transmission rope 9 is connected to the transmission rope connecting post 613, and a part of the transmission rope 9 is sandwiched between the fitting portion 71 and the convex head portion 61.
- This not only facilitates the connection of the distal end of the drive cable 9, but also the cover portion 71 can function to compress the drive cable 9, ensuring that the distal end of the drive cable 9 is not easily detached.
- the proximal knuckle of the present embodiment relies on the pulling force of the spring to achieve automatic resetting during the indexing.
- the convex head 61 and the proximal knuckle body 62 is provided with a tension spring receiving groove 63, and a tension spring distal cylindrical pin mounting hole 631 is provided on the groove wall of the tension spring receiving groove 63, and is pierced in the distal end cylindrical pin mounting hole 631 of the tension spring.
- a distal end cylindrical pin 81 is attached to the tension spring, and the distal end of the tension spring 8 is fitted over the distal end cylindrical pin 81 of the tension spring.
- the prosthetic finger of the present embodiment incorporates the structure of the plurality of front portions, which can be specifically referred to FIGS. 1 to 11 in the drawings of the specification.
- the prosthetic finger provided by the embodiment of the invention includes a finger mounting frame 1, a worm wheel 2, a rotating shaft, a base joint frame 4, a finger base knuckle 5, a finger proximal knuckle 6, a finger distal knuckle 7, and a tension spring 8.
- the transmission rope 9; the worm wheel 2 is fixed on the finger mounting frame 1, the worm wheel 2 is provided with a circular hole 25 with a gap, the grommet 251 is installed in the hole 25 with a gap, and the hole edge card with the circular hole 25 is opened.
- a motor reducer assembly 401 is fixed in the base joint frame 4, and a first bevel gear 402 is fixed on the output shaft journal 4014 of the motor reducer assembly 401 at the base joint frame.
- a worm 404 is mounted on the inner through hole by the circlip 407 and the two sliding bearings, and a second bevel gear 403 is fixed on the input shaft journal 4043 of the worm 404, and the second bevel gear 403 is meshed with the first bevel gear 402.
- Base joint frame 4 has an open slot 44, a worm gear 2 is located in the open slot 44, the worm gear 2 meshes with the worm 404, the rotating shaft is disposed on the base joint frame 4 and the worm wheel 2;
- the finger base knuckle 5 has a cavity for accommodating the motor reducer assembly 401, the finger base knuckle 5 is fixed on the base joint frame 4, the drive rope 9 penetrates the inner space of the finger base knuckle 5, the proximal end of the drive rope 9 is connected to the grommet 251;
- the finger near knuckle 6 is rotatably connected to the finger base knuckle At the distal end of the fifth end, the two ends of the tension spring 8 are rotatably coupled to the finger base knuckle 5 and the finger proximal knuckle 6, respectively;
- the proximal finger knuckle 6 includes a convex head 61 at the distal end of the convex head 61
- the design of the prosthetic finger provided in this embodiment, the design of the grommet 251 in the worm wheel 2, the design of the opening groove 44 in the base joint frame 4, and the rotation axis are simultaneously inserted in the rotating shaft through hole 211 and the two rotating shaft through the concentric hole 431
- the design, the two ends of the tension spring 8 are respectively sleeved on the cylindrical pin, and the design of the design between the distal knuckle 7 of the finger and the proximal knuckle 6 of the finger, which can make the connection of each part reliable and the worm wheel 2 rotate smoothly.
- the tension spring 8 is protected, and the transmission rope 9 is not easily detached, so that the working reliability of the entire prosthetic finger can be improved as a whole, and the possibility of malfunction can be reduced.
- the proximal end of the transmission rope 9 is a double-wire structure in which a single wire is folded in half, and the proximal end of the transmission rope 9 is sleeved at the reduced diameter of the grommet 251.
- the rotating shaft is a hollow shaft 3, and a finger tail cover 408 is connected to the base joint frame 4, and the finger tail cover 408 is covered.
- the first bevel gear 402 and the second bevel gear 403 have two plug posts, and the two plug posts are respectively inserted at both ends of the hollow shaft 3.
- the finger base knuckle 5 comprises a base knuckle body 51, the drive cable 9 being located in the lower portion of the base knuckle body 51, at the lower wall of the base knuckle body 51 A corresponding position of the drive rope 9 is fixed with a roller pin 513 whose axis is perpendicular to the axis of the base knuckle body 51.
- a roller 514 is fitted on the roller pin 513, and a part of the roller 514 extends into the wall surface of the base knuckle body 51.
- a distal end cylindrical pin of the tension spring is fixed on the proximal knuckle 6 of the finger.
- a tension spring proximal cylindrical pin 82 is fixed on the finger base knuckle 5, and the axes of the extension spring distal cylindrical pin 81 and the tension spring proximal cylindrical pin 82 are parallel to the axis of rotation of the finger proximal knuckle 5
- the two ends of the tension spring 8 are respectively sleeved on the distal end cylindrical pin 81 of the tension spring and the proximal cylindrical pin 82 of the tension spring.
- two proximal knuckle connection wings 621 are provided at the proximal end of the finger proximal phalanx 6, correspondingly on the two proximal knuckle connection wings 621
- a proximal knuckle connecting wing concentric hole 6211 is provided
- the finger base knuckle 5 includes a base knuckle main body 51, and an inter-wing connecting portion 52 is integrally connected at a distal end of the base knuckle main body 51, and the width of the inter-wing connecting portion 52 is smaller than The width of the base knuckle body 51, the inter-wing connecting portion 52 is located between the two proximal knuckle connecting wings 621, and the convex joint cylinders are provided on both sides of the wing connecting portion 52, and the two proximal knuckles are connected.
- the wing concentric holes 6211 are respectively s
- the finger base knuckle 5 includes a base knuckle body 51 having a cavity for receiving the motor reducer assembly 401, A fan-shaped flange 412 is disposed on an upper outer wall of the motor reducer assembly mounting portion 41.
- a slot 511 is defined in the corresponding knuckle flange 412 on the base knuckle body 51.
- a part of the base knuckle body 51 is mounted on the motor reducer assembly.
- a portion of the portion 41, the sector flange 412 is located in the slot 511.
- the output shaft journal 4014 and the input shaft journal 4043 are both D-shaped journals, and the first bevel gear 402 and the second bevel gear 403 each have a D-shaped central hole, the first bevel gear
- the D-shaped center hole of the sleeve 402 is sleeved on the D-shaped section journal of the output shaft journal 4014, and the D-shaped center hole of the second bevel gear 403 is sleeved on the input shaft journal 4043.
- the base joint frame 4 includes a motor reducer assembly mounting portion 41, a worm mounting portion 42 and two shaft insertion portions 43, a motor reducer assembly mounting portion 41 and a worm mounting
- the portion 42 is integrally connected by the two shaft insertion portions 43.
- the two shaft insertion portions 43 form an opening groove 44.
- the motor speed reducer assembly 401 is fixed to the motor reducer assembly mounting portion 41, and the worm 404 is mounted on the worm.
- the worm wheel 2 is provided with a rotating shaft through hole 211
- the corresponding rotating shaft through hole 211 is provided with a rotating shaft through hole 431 on the two rotating shaft connecting portions 43 .
- the rotating shaft is disposed through the rotating shaft through hole 211 and the two rotating shafts are connected concentrically. In the hole 431.
- a motor reducer assembly mounting hole 411 is provided in the motor reducer assembly mounting portion 41, and the motor reducer assembly 401 includes a motor 4011 connected to the motor 4011.
- the reducer 4012 is provided with a mounting neck 4013.
- the diameter of the mounting neck 4013 is smaller than the diameter of the reducer 4012.
- the output shaft journal 4014 extends from the mounting neck 4013, and the mounting neck 4013 is fixed to the motor reducer assembly. Installed in the hole 411.
- the worm main body accommodating cavity 421, the sliding bearing mounting hole 422 and the worm journal receiving hole 423 are sequentially disposed in the worm mounting portion 42.
- the diameter of the sliding bearing mounting hole 422 is smaller than the worm main body accommodating cavity.
- the diameter of the 421, the diameter of the worm journal receiving hole 423 is smaller than the diameter of the sliding bearing mounting hole 422, the end of the worm main body accommodating chamber 421 is open, and the circlip wall of the worm main body accommodating chamber 421 is provided with a circlip in the circumferential direction.
- the worm 404 includes a worm main body portion 4041, and a bearing mounting journal 4042 is integrally coupled to both ends of the worm main body portion 4041, and an input shaft journal 4043 is integrally coupled to one of the bearing mounting journals 4042; the worm main body
- the portion 4041 is located in the worm main body accommodating chamber 421, the worm main body portion 4041 is meshed with the meshing portion 23 of the worm wheel 2, the first sliding bearing 405 is disposed in the sliding bearing mounting hole 422, and the second sliding is disposed in the worm main body accommodating chamber 421
- the bearing 406, the worm main body portion 4041 is located between the first sliding bearing 405 and the second sliding bearing 406, and one of the two bearing mounting journals 4042 and the input shaft journal 4043
- the connected bearing mounting journal 4042 is disposed in the first sliding bearing 405, and the other bearing mounting journal 4042 of the two bearing mounting journals 4042 is disposed in the second sliding bearing 406 in the circlip mounting groove 4211.
- the hole circlip 407 is provided
- the edge of the worm wheel 2 for contact with the drive rope 9 is substantially curved, the arc of the arc being centered at the center of the shaft 211 of the shaft.
- the motor reducer assembly 401 drives the first bevel gear 402 to rotate, and the first bevel gear 402 drives the second bevel gear 403 and the worm 404 to rotate, and the interaction between the worm 404 and the worm wheel 2
- the base knuckle 5 is bent, and the tension spring 8 is stretched.
- the reducer assembly 401 drives the first bevel gear 402 to rotate in the reverse direction, and the interaction of the worm 404 and the worm wheel 2 causes the base joint frame 4 and the finger base knuckle 5 to rotate in the opposite direction about the axis of the hollow shaft 3, in the tension spring 8 Under the force, the finger is reset and straightened.
- connection structure between the proximal phalanx and the basal phalanx of the prosthetic thumb can be structurally versatile with the structure of a general prosthetic finger (non-thumb).
- connection structure of the proximal phalanx and the base phalanx of the prosthetic thumb of the embodiment of the present invention reference may be made to FIG. 12 of the accompanying drawings.
- the connection structure of the proximal phalanx and the basal phalanx of the prosthetic thumb provided by the embodiment includes a thumb base knuckle 5' and a thumb proximal knuckle 6', and two thumbes are provided at the proximal end of the proximal phalanx 6' of the thumb.
- the proximal knuckle connecting wing 621' is correspondingly provided with a thumb proximal knuckle connecting wing concentric hole (not shown) on the two thumb proximal knuckle connecting wings 621', and the thumb base knuckle 5' includes a thumb base finger
- the segment main body 51' is integrally connected with the thumb wing connecting portion 52' at the distal end of the thumb base knuckle main body 51', and the width of the thumb wing connecting portion 52' is smaller than the width of the thumb base knuckle main body 51', and the thumb wing
- the inter-connecting portion 52' is located between the two thumb proximal knuckle connecting wings 621', and has a convex hinged cylinder (not shown) on both sides of the inter-throat connecting portion 52', two thumbs
- the proximal knuckle connecting wing concentric holes are respectively sleeved on two hinged cylinders, and
- connection structure between the proximal phalanx and the basal phalanx of the prosthetic thumb provided by the embodiment has the versatility between the structure of the connecting wing and the hinged cylinder and the structure of the proximal knuckle of the general prosthetic finger (non-thumb).
- the proximal knuckle of the thumb is locked by engaging and fixing the thumb proximal knuckle locking pin 56' on the thumb-based knuckle connecting wing 521' and the thumb proximal knuckle connecting wing 621', so that the thumb-based knuckle
- the 5' and the proximal knuckle 6' of the thumb are relatively fixed, and the structure is simple, which can reduce the structural complexity of the prosthetic hand and improve the versatility of the components, thereby achieving the effect of reducing costs.
- the thumb near the phalanx 6' and the thumb distal knuckle 7' also adopt a suit structure in the prosthetic finger
- the thumb near phalanx 6' includes the thumb near knuckle convex head 61' and is thicker than Thumb near knuckle convex head 61' of thumb proximal knuckle body 62'
- thumb The proximal knuckle connecting wing 621' is integrally connected to the proximal end of the thumb proximal knuckle body 62', and further includes a thumb distal knuckle 7', and a thumb distal knuckle set portion 71' is provided on the thumb distal knuckle 7'.
- the thumb distal knuckle set portion 71' is placed over the thumb proximal knuckle convex head 61' and abuts the thumb proximal knuckle body 62'.
- This type of kit is easy to assemble securely and reliably.
- a thumb near the knuckle convex head 61' is provided with a screw proximal knuckle convex head threaded hole (not shown), the axis of the proximal knuckle convex head threaded hole and the thumb near knuckle convex
- the axis of the head 61' is perpendicular, and a thumb distal knuckle screw mounting hole (not shown) is provided on the thumb distal knuckle fitting portion 71' corresponding to the proximal knuckle convex head of the thumb, and the thumb is distally knuckle mounted.
- the screw 72' is threaded into the thumb distal knuckle screw mounting hole and connected to the thumb proximal knuckle convex head threaded hole.
- the thumb is fixed with the distal knuckle mounting screw 72', and the thumb near the knuckle 6' and the thumb distal knuckle 7' are not easily detached.
- the number of thumb distal knuckle mounting screws 72' is two.
- the transmission rope and the tension spring are not required.
- redundant pull is provided on the thumb proximal knuckle convex head 61' and the thumb proximal knuckle main body 62'.
- the spring receiving groove is not connected to the tension spring at the thumb base knuckle 5' and the thumb proximal knuckle 6'.
- the mounting structure of the prosthetic thumb of the embodiment of the present invention comprises a thumb mounting frame 1', a thumb rotating frame 10, a thumb front bracket 11 and a thumb rear bracket 12, and a thumb rotating frame is arranged on the thumb rotating frame 10.
- the open slot 101, the thumb mounting frame 1' is located in the thumb rotating frame opening slot 101 and fixed on the thumb rotating frame 10, and the thumb front supporting shaft 13 is coaxially connected to both ends of the thumb rotating frame 10, respectively.
- the thumb rear support shaft 14, the rear end of the thumb front support shaft 13 is located in the thumb rotating frame opening slot 101, the thumb front support shaft 13 is inserted on the thumb front bracket 11, and the thumb rear support shaft 14 is inserted into the thumb rear bracket 12.
- a through-hole through hole 131 is provided along the axial direction thereof, and a wire (not shown) connected to the motor in the thumb of the prosthesis is pierced through the opening groove 101 of the thumb. 131.
- the mounting structure of the prosthetic thumb uses a special thumb rotating frame 10 to fit the prosthetic thumb.
- the thumb rotating frame 10 is connected to the thumb through the coaxially disposed thumb front support shaft 13 and the thumb rear support shaft 14. Front bracket 11 and posterior branch of thumb Between the frames 12, the wires connected to the motor in the prosthetic thumb pass through the thumb opening slot 101 through the wire perforations 131, and are no longer passed through the side as in the prior art, so that when the thumb rotates the frame 10Because the prosthetic thumb is rotated by the palm and the palm of the hand, the wire is not pulled and bent by the rotation of the thumb rotating frame 10, and the wire can be protected to extend its service life.
- the thumb mounting frame 1' is provided with a thumb mounting frame fixing threaded hole (not shown), in the thumb rotating machine
- the thumb mounting bracket fixing screw hole of the frame 10 is provided with a thumb mounting frame fixing screw mounting hole (not shown), and the thumb mounting frame fixing screw 102 is inserted in the thumb mounting frame fixing screw mounting hole and The thumb mounting bracket secures the threaded hole connection.
- the front front support shaft 13 includes a head portion and a screw portion (not shown), the wire through hole 131 penetrates the head portion and the screw portion, and a nut seating hole is provided on the thumb front bracket 11. 111.
- a thumb front support shaft nut 112 is disposed in the nut seating hole 111.
- the screw portion is disposed on the thumb rotating frame 10 and the thumb front bracket 11 and connected to the thumb front support shaft nut 112.
- the thumb rear support shaft 14 includes a thumb rear support shaft bolt (not shown) and a thumb rear support shaft nut (not shown), and the thumb rear support shaft nut is located at the thumb rotation.
- the thumb rear support shaft bolt is threaded on the thumb rear bracket 12 and the thumb rotating frame 10 and connected to the thumb rear support shaft nut.
- prosthetic thumb of the embodiment of the present invention are common to the parts of the general prosthetic finger, except that the name is distinguished by a "thumb", so some parts of the prosthetic thumb below are not marked with reference numerals, when reading Reference can be made to the previous figures.
- the prosthetic thumb of the embodiment of the present invention can be specifically referred to FIG. 7 to FIG. 12 of the accompanying drawings.
- the prosthetic thumb provided by the embodiment of the invention comprises a thumb mounting frame 1', a thumb worm wheel, a thumb shaft, a thumb base joint frame, a thumb base knuckle 5', a thumb near knuckle 6', and a thumb distal knuckle 7'
- the thumb rotates the frame 10, the thumb front bracket 11 and the thumb rear bracket 12; the thumb worm wheel is fixed on the thumb mounting frame 1', and the thumb base joint frame is rotatably connected to the thumb worm wheel through the thumb rotating shaft, the thumb base knuckle 5' fixed to the thumb joint frame
- the thumb near knuckle 6' is fixed on the thumb base knuckle 5', the thumb distal knuckle 7' is fixed on the proximal knuckle 6' of the thumb, and the thumb motor reducer assembly and thumb are mounted in the thumb joint joint frame.
- the first bevel gear, the second bevel gear and the thumb worm, the thumb motor reducer assembly can sequentially drive the thumb first bevel gear, the thumb second bevel gear and the thumb worm to rotate, the thumb worm wheel and the thumb worm mesh; the thumb rotates the frame 10 is provided with a thumb rotating frame opening slot 101, and the thumb mounting frame 1' is located in the thumb rotating frame opening slot 101 and fixed on the thumb rotating frame 10, and coaxially on both ends of the thumb rotating frame 10
- the thumb front support shaft 13 and the thumb rear support shaft 14 are connected, and the rear end of the thumb front support shaft 13 is located in the thumb rotating frame opening slot 101, and the thumb front support shaft 13 is inserted on the thumb front bracket 11, and the thumb rear support shaft 14 is inserted into the thumb rear bracket 12, and a through-hole through hole 131 is provided in the thumb front support shaft 13 along the axial direction thereof, and the wire connected to the motor in the prosthetic thumb is threaded through the thumb rotation frame opening slot 101. Perforation 131 .
- the prosthetic thumb provided by the embodiment of the present invention uses a special thumb rotation frame 10 to fit the prosthetic thumb.
- the thumb rotation frame 10 is connected to the thumb front support frame by a coaxially disposed thumb front support shaft 13 and a thumb rear support shaft 14. Between the 11 and the thumb rear bracket 12, the wire connected to the motor in the prosthetic thumb passes through the thumb opening slot 101 through the wire through hole 131, and does not pass through the side as in the prior art.
- the thumb rotating frame 10 is rotated by the palm and the palm of the prosthetic thumb, the wire is not pulled and bent by the rotation of the thumb rotating frame 10, and the wire can be protected to extend its service life.
- the thumb base knuckle 5' includes a thumb base knuckle body 51', and a thumb wing joint portion 52' is integrally connected at a distal end of the thumb base knuckle body 51'.
- the width of the thumb wing joint portion 52' is smaller than the thumb
- the width of the base knuckle body 51' is located between the two thumb proximal knuckle connecting wings 621', and the convex thumb hinge is provided on both sides of the thumb wing connecting portion 52'.
- Cylindrical, two thumb proximal knuckle connecting wing concentric holes are respectively placed on two thumb hinged cylinders, and two thumb-based knuckle connecting wings 521' are provided at the distal end of the inter-throat connecting portion 52'.
- the thumb joint 526' and the thumb proximal knuckle connecting wing 621' are co-threaded and fixed with a thumb proximal knuckle locking pin 56'.
- the structure of the connecting wing, the hinged cylinder and the general prosthetic finger has versatility between the structures, and the thumb proximal knuckle locking pin 56' is commonly worn and fixed on the thumb-based knuckle connecting wing 521' and the thumb proximal knuckle connecting wing 621'.
- the proximal knuckle of the thumb is locked, so that the thumb base knuckle 5' and the thumb near knuckle 6' are relatively fixed, and the structure is simple, which can reduce the structural complexity of the prosthetic hand and improve the versatility of the parts, thereby achieving the cost reduction effect.
- the thumb near the phalanx 6' and the thumb distal knuckle 7' of the present embodiment also adopt a suiting manner
- the thumb near phalanx 6' includes a thumb near knuckle convex head 61' and
- the thumb proximal knuckle body 62' is thicker than the thumb proximal knuckle convex head 61'
- the thumb proximal knuckle connecting wing 621' is integrally connected to the proximal end of the thumb proximal knuckle body 62', at the thumb distal knuckle 7'
- a thumb distal knuckle set portion 71' is provided thereon, and a thumb distal knuckle set portion 71' is fitted over the thumb proximal knuckle convex head portion 61' and abuts the thumb proximal knuckle body 62'.
- a thumb proximal knuckle convex head portion is provided with a thumb proximal knuckle convex head threaded hole, and an axis of the thumb proximal knuckle convex head threaded hole is perpendicular to an axis of the thumb proximal knuckle convex head 61' a thumb distal knuckle screw mounting hole is arranged on the thumb distal knuckle setting portion 71' corresponding to the proximal knuckle convex head of the thumb, and the thumb distal knuckle mounting screw 72' is disposed in the thumb distal knuckle screw mounting hole.
- the thumb is fixed with the distal knuckle mounting screw 72', and the thumb near the knuckle 6' and the thumb distal knuckle 7' are not easily detached. Since the proximal knuckle motion of the thumb is locked, the transmission rope and the tension spring are not required, and the present embodiment has redundant stretching on the thumb proximal knuckle convex head 61' and the thumb proximal knuckle main body 62'.
- the spring receiving groove is not connected to the tension spring at the thumb base knuckle 5' and the thumb near knuckle 6'.
- the thumb base knuckle body 51' has a cavity for accommodating the thumb motor reducer assembly, at the upper portion of the thumb motor reducer assembly mounting portion.
- a thumb-shaped flange is arranged on the outer wall, and a thumb slot is provided on the thumb-based knuckle body 51' corresponding to the thumb-shaped flange, and a part of the thumb-based knuckle body 51' is sleeved on a part of the thumb motor reducer assembly mounting portion.
- the thumb fan flange is located in the thumb slot.
- the thumb worm wheel includes a thumb shaft connection portion, and a thumb shaft pivot hole is provided on the thumb shaft connection portion.
- a thumb engaging portion and a thumb worm wheel fixing portion are integrally connected to the thumb shaft connecting portion, and the thumb worm wheel fixing portion is fixed to the thumb
- the thumb-based joint frame includes a thumb motor reducer assembly mounting portion, a thumb worm mounting portion and two thumb shaft insertion portions, a thumb motor reducer assembly mounting portion and a thumb worm mounting portion through two
- the thumb shaft insertion portion is integrally connected, the thumb opening portion forms a thumb opening slot, the thumb worm wheel is located in the thumb opening slot, and the thumb motor reducer assembly is mounted in the thumb motor reducer assembly mounting portion, in the thumb motor
- the thumb output shaft of the reducer assembly is fixed with a thumb first bevel gear, a thumb worm is mounted in the thumb worm mounting portion, the thumb worm is engaged with the thumb mesh portion of the thumb worm wheel, and is fixed on the thumb input shaft journal of the thumb worm
- the thumb has a second bevel gear, and the second bevel gear of the thumb is engaged with the first bevel gear of the thumb.
- a redundant rope zipper portion is integrally connected to the thumb shaft connection portion, and the thumb engagement portion and the rope are pulled.
- the thumb worm wheel used for the prosthetic thumb is actually the same worm wheel as the worm wheel 2 used for the general prosthetic finger, which can further increase the versatility of the parts.
- a thumb motor reducer assembly mounting hole is provided in the thumb motor reducer assembly mounting portion, and the thumb motor reducer assembly includes a thumb motor connected to the thumb motor.
- the thumb reducer assembly includes a thumb motor connected to the thumb motor.
- the thumb worm main body accommodating cavity, the thumb sliding bearing mounting hole and the thumb worm journal accommodating hole are sequentially connected in the thumb worm mounting portion, and the diameter of the thumb sliding bearing mounting hole is smaller than the thumb worm main body accommodating cavity.
- the diameter of the thumb worm journal receiving hole is smaller than the diameter of the thumb sliding bearing mounting hole, the end of the thumb worm main body accommodating cavity is open, and the thumb circlip is mounted on the cavity wall of the thumb worm main body accommodating cavity.
- the thumb worm includes a thumb worm main body portion, and a thumb bearing mounting journal is integrally connected to both ends of the thumb worm main body portion, and a thumb input shaft journal is integrally connected to one of the thumb bearing mounting journals; the thumb worm main The body is located in the thumb worm main body accommodating cavity, the thumb worm main body portion is engaged with the thumb meshing portion of the thumb worm wheel, the thumb first sliding bearing is arranged in the thumb sliding bearing mounting hole, and the thumb second is arranged in the thumb worm main body accommodating cavity. a sliding bearing, the main body of the thumb worm is located between the first sliding bearing of the thumb and the second sliding bearing of the thumb, and one of the two thumb bearing mounting journals is connected to the thumb of the thumb input shaft and the journal is mounted on the thumb.
- the other thumb bearing mounting journal of the two thumb bearing is mounted in the second sliding bearing of the thumb, and a circlip with a thumb hole is provided in the thumb circlip mounting groove, the thumb
- the two sliding bearings are located between the main body of the thumb worm and the circlip for the thumb hole.
- the thumb output shaft journal and the thumb input shaft journal are all D-shaped cross-section journals, and the thumb first bevel gear and the thumb second bevel gear both have a D-shaped central hole and a thumb first cone.
- the D-shaped central hole of the gear is sleeved on the D-shaped journal of the thumb of the thumb output shaft, and the D-shaped central hole of the second bevel gear of the thumb is sleeved on the thumb input shaft journal.
- the front front support shaft 13 includes a head portion and a screw portion.
- the wire through hole 131 penetrates the head portion and the screw portion.
- the thumb front bracket 11 is provided with a nut seating hole 111, and the nut seating hole 111 is provided.
- a thumb front support shaft nut 112 is disposed therein, and the screw portion is disposed on the thumb rotating frame 10 and the thumb front bracket 11 and connected to the thumb front support shaft nut 112.
- the thumb rear support shaft 14 includes a thumb rear support shaft bolt and a thumb rear support shaft nut, and the thumb rear support shaft nut is located in the thumb rotation frame opening slot 101, and the thumb rear support shaft bolt is pierced.
- the thumb rear bracket 12 and the thumb are rotated on the frame 10 and connected to the thumb rear support shaft nut.
- the prosthetic hand provided by the embodiment of the present invention adopts the prosthetic finger as the general prosthetic finger, and uses the prosthetic thumb as the prosthetic thumb.
- the mounting structure of the prosthetic finger of the prosthetic hand according to the embodiment of the present invention can be referred to the specification.
- the mounting structure of the general prosthetic finger of the prosthetic hand comprises a prosthetic hand substrate 15, a finger coupler 16 and a finger mounting frame 1 of a general prosthetic finger; and a stepped hole is provided in the finger coupler 16 ( Not shown in the drawing), the stepped tension nut 161 is located in the stepped hole, and the prosthetic hand substrate 15 is located at the large diameter of the tension nut 161 On the side where the end is located, the finger mounting frame 1 is located on the side of the small diameter end of the tension nut 161; on the prosthetic hand substrate 15, the internal thread of the corresponding pull nut 161 is provided with a finger substrate coupling screw mounting hole (not shown in the figure)
- the finger substrate coupling screw 151 is disposed in the finger substrate coupling screw mounting hole and connected to the internal thread of the tension nut 161; the finger mounting screw 1 is provided with a finger coupling screw mounting hole on the finger mounting frame 1 Not shown in the figure), the finger coupling screw 162 is inserted in the finger coupling
- the mounting structure of the general prosthetic finger of the prosthetic hand connects the general prosthetic finger and the prosthetic hand substrate 15 by using a finger coupler 16, a stepped pull nut 161, a finger coupling screw 162 and a finger substrate coupling screw 151.
- a finger coupler 16 a stepped pull nut 161
- a finger coupling screw 162 a finger substrate coupling screw 151.
- the connection is reliable and is not easy to loose.
- the number of the stepped hole, the tension nut 161, the finger coupling screw 162, and the finger substrate coupling screw 151 are all four, that is, four general prosthetic fingers are simultaneously connected by one finger.
- the device 16 is connected to the prosthetic hand substrate 15.
- a prosthetic hand back shell 17 is fixed on the prosthetic hand substrate 15, and the prosthetic hand back shell 17 has a general prosthetic finger base joint joint guard portion 171, a general prosthesis
- the finger-based knuckle guard portion 171 is located at the base knuckles of the four general prosthetic fingers, so that the general prosthetic fingers can be protected to some extent.
- the prosthetic hand provided by the embodiment of the present invention adopts the prosthetic finger as the general prosthetic finger, and uses the prosthetic thumb as the prosthetic thumb. Therefore, the prosthetic hand of the embodiment of the present invention can refer to FIG. 1 of the accompanying drawings. Figure 13. Since the finger portion of the prosthetic hand has been described in detail above, the installation of the general prosthetic finger has also been described, so the description will not be repeated here. Here, only the prosthetic thumb is simply mounted on the prosthetic hand substrate: the thumb front bracket 11 is fixed on the prosthetic hand substrate 15, the wrist coupling 18 is fixed on the prosthetic hand substrate 15, and the thumb rear bracket 12 is fixed to the wrist coupling member. 18 on.
- the prosthetic hand provided in this embodiment is assembled from the foregoing aspects.
- the general prosthetic finger connection is reliable, the wire of the prosthetic thumb is protected, not easy to break, and the reliability is higher.
- the partial structure of the prosthetic thumb and the prosthetic finger is common, which can reduce the cost, and the connection between the components is reliable and easy to assemble.
- the prosthetic hand of this embodiment has a self-locking function because it uses a worm gear pair.
- the prosthetic thumb of the present embodiment can perform the posture rotation so as to have two states of the palm and the side palm, and when the inversion is reversed, the disabled person uses the hand to move it as the swinging motion.
- the prosthetic hand provided by this embodiment combines several aspects of improvement, but does not mean that they must be implemented together, and the improvement of each part can also be applied to the existing prosthetic hand and its fingers separately.
- the connection structure between the proximal phalanx of the prosthetic finger and the basal knuckle, the improvement of the connection structure between the distal phalanx and the proximal phalanx of the prosthetic finger and the movement of the proximal knuckle of the prosthetic finger are not necessarily related to the cable drive.
- the movement of the knuckles can also be driven by a connecting rod.
- the partial structure given by the embodiment of the prosthetic finger can be applied not only to a general finger but also to a thumb.
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Cardiology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
Description
Claims (3)
- 一种假肢手的一般假肢手指的安装结构,其特征在于,包括假肢手基板(15)、手指联接器(16)和一般假肢手指的手指安装机架(1);在所述手指联接器(16)内设有阶梯形孔,阶梯形的拉力螺母(161)位于所述阶梯形孔中,所述假肢手基板(15)位于所述拉力螺母(161)的大直径端所在的一侧,所述手指安装机架(1)位于所述拉力螺母(161)的小直径端所在的一侧;在所述假肢手基板(15)上对应所述拉力螺母(161)的内螺纹设有手指基板联接螺钉安装孔,手指基板联接螺钉(151)穿设在所述手指基板联接螺钉安装孔中并与所述拉力螺母(161)的内螺纹相连;在所述手指安装机架(1)上对应所述拉力螺母(161)的内螺纹设有手指联接螺钉安装孔,手指联接螺钉(162)穿设在所述手指联接螺钉安装孔中并与所述拉力螺母(161)的内螺纹相连;当所述一般假肢手指处于伸直状态时,所述手指联接螺钉(162)的轴线垂直于所述一般假肢手指的指向。
- 根据权利要求1所述的假肢手的一般假肢手指的安装结构,其特征在于,所述阶梯形孔、所述拉力螺母(161)、所述手指联接螺钉(162)和所述手指基板联接螺钉(151)的个数均为四个。
- 根据权利要求2所述的假肢手的一般假肢手指的安装结构,其特征在于,在所述假肢手基板(15)上固定有假肢手背壳(17),所述假肢手背壳(17)上具有一般假肢手指基指关节护罩部(171),所述一般假肢手指基指关节护罩部(171)位于四根所述一般假肢手指的基指关节处。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US15/978,287 US20180256366A1 (en) | 2015-11-18 | 2018-05-14 | Mounting structure for general prosthetic finger of prosthetic hand |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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CN201510799679.XA CN106038005B (zh) | 2015-11-18 | 2015-11-18 | 假肢手的一般假肢手指的安装结构 |
CN201510799679.X | 2015-11-18 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US15/978,287 Continuation US20180256366A1 (en) | 2015-11-18 | 2018-05-14 | Mounting structure for general prosthetic finger of prosthetic hand |
Publications (1)
Publication Number | Publication Date |
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WO2017084639A1 true WO2017084639A1 (zh) | 2017-05-26 |
Family
ID=57179509
Family Applications (1)
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PCT/CN2016/110362 WO2017084639A1 (zh) | 2015-11-18 | 2016-12-16 | 假肢手的一般假肢手指的安装结构 |
Country Status (3)
Country | Link |
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US (1) | US20180256366A1 (zh) |
CN (1) | CN106038005B (zh) |
WO (1) | WO2017084639A1 (zh) |
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GB201403265D0 (en) | 2014-02-25 | 2014-04-09 | Touch Emas Ltd | Prosthetic digit for use with touchscreen devices |
CN106038003B (zh) * | 2015-11-18 | 2018-03-02 | 杭州若比邻机器人科技有限公司 | 假肢拇指 |
CN106037999B (zh) * | 2015-11-18 | 2018-03-02 | 杭州若比邻机器人科技有限公司 | 假肢手指 |
CN106038005B (zh) * | 2015-11-18 | 2018-01-30 | 杭州若比邻机器人科技有限公司 | 假肢手的一般假肢手指的安装结构 |
US10973660B2 (en) | 2017-12-15 | 2021-04-13 | Touch Bionics Limited | Powered prosthetic thumb |
TWM567873U (zh) * | 2018-07-06 | 2018-10-01 | 大陸商深圳望得源科技有限公司 | 光纖連接裝置 |
US11931270B2 (en) | 2019-11-15 | 2024-03-19 | Touch Bionics Limited | Prosthetic digit actuator |
GB2604623A (en) | 2021-03-10 | 2022-09-14 | Steeper Hugh Ltd | A release mechanism |
CN114176853B (zh) * | 2021-12-28 | 2023-03-14 | 上海交通大学 | 一种可插拔的假肢手指 |
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US20180256366A1 (en) | 2018-09-13 |
CN106038005B (zh) | 2018-01-30 |
CN106038005A (zh) | 2016-10-26 |
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