CN111589058A - Upper limb rehabilitation robot with force feedback function - Google Patents
Upper limb rehabilitation robot with force feedback function Download PDFInfo
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- CN111589058A CN111589058A CN202010326049.1A CN202010326049A CN111589058A CN 111589058 A CN111589058 A CN 111589058A CN 202010326049 A CN202010326049 A CN 202010326049A CN 111589058 A CN111589058 A CN 111589058A
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- force feedback
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- reversing unit
- upper limb
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1209—Involving a bending of elbow and shoulder joints simultaneously
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/001—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for without substantial movement between the skin and the device
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/0658—Position or arrangement of display
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/13—Relative positions
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/09—Adjustable dimensions
- A63B2225/093—Height
Abstract
The invention discloses an upper limb rehabilitation robot with a force feedback function, which comprises a main body, a bracket, an arc-shaped desktop, a first reversing unit, a second reversing unit, a monitoring unit, a force feedback control unit and a grip unit, wherein the first reversing unit and the second reversing unit are connected; the bracket is connected with the main body and is provided with an arc-shaped groove; the arc-shaped tabletop is matched with the arc-shaped groove, and arc-shaped reversing is carried out along the arc-shaped groove; the monitoring unit monitors the real-time positions and angles of the first reversing unit and the second reversing unit; the input end of the force feedback control unit is connected with the output end of the monitoring unit, and the output end of the force feedback control unit is connected with the control ends of the first reversing unit and the second reversing unit; the handle unit is connected with the control ends of the first reversing unit and the second reversing unit. The invention enables the human body to obtain the touch feeling of force feedback, thereby achieving the effect of stimulating the rehabilitation of the terminal nerve.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an upper limb rehabilitation robot with a force feedback function.
Background
The injury of the brain stroke or the spine and the like causes the motor functions of a plurality of muscle groups of a patient to be damaged. The terminal nerve remodeling process proves regular or irregular repeated training rehabilitation movement with a force feedback function, enables a patient to recover partial or most of motor functions from the nerve terminal, and can switch the left hand and the right hand within the range of 120 degrees to increase the training range.
There is no upper limb rehabilitation robot with multiple degrees of freedom that can help rehabilitation training using force feedback function in the prior art, and the training range cannot be realized to make one hand exceed 100 degrees.
Disclosure of Invention
In order to solve the problems, the invention provides an upper limb rehabilitation robot with a force feedback function, which can acquire position and angle data of a first reversing unit and a second reversing unit in real time in an active training mode and send the position and angle data to a force feedback control unit.
In order to achieve the technical purpose and achieve the technical effects, the invention is realized by the following technical scheme:
an upper limb rehabilitation robot with force feedback function, comprising:
a main body;
the bracket is connected with the main body and is provided with an arc-shaped groove;
the arc-shaped desktop is matched with the arc-shaped groove and performs arc-shaped reversing along the arc-shaped groove;
the first reversing unit and the second reversing unit are connected;
the monitoring unit is used for monitoring the real-time positions and angles of the first reversing unit and the second reversing unit;
the input end of the force feedback control unit is connected with the output end of the monitoring unit, and the output end of the force feedback control unit is connected with the control ends of the first reversing unit and the second reversing unit;
and the handle unit is connected with the control ends of the first reversing unit and the second reversing unit.
As a further improvement of the present invention, the first reversing unit includes a first link mechanism and a first driving motor connected to each other; the first connecting rod mechanism is arranged on the arc-shaped desktop and can rotate around a connecting point of the first connecting rod mechanism and the arc-shaped desktop around a shaft under the action of the first driving motor; the first driving motor is respectively connected with the grip unit and the force feedback control unit.
As a further improvement of the present invention, the second reversing unit includes a second link mechanism and a second driving motor connected to each other; the second connecting rod mechanism is arranged on the arc-shaped desktop, is connected with the first connecting rod mechanism and can do telescopic motion relative to a connecting point of the second connecting rod mechanism and the first connecting rod mechanism under the action of a second driving motor; the second driving motor is respectively connected with the grip unit and the force feedback control unit.
As a further improvement of the present invention, the monitoring unit includes a first position sensor, a first angle sensor, a second position sensor, and a second angle sensor;
the first position sensor and the first angle sensor are respectively used for measuring the real-time position and the angle of the first reversing unit;
and the second position sensor and the second angle sensor are respectively used for measuring the real-time position and angle of the second reversing unit.
As a further improvement of the present invention, the grip unit includes a rotation handle and a grip connected; the rotating handle is provided with a damper, and the swinging angle of the rotating handle is 0-90 degrees; the rotation angle of the handle is 0-360 degrees.
As a further improvement of the invention, an arm supporting seat is further arranged on the arc-shaped table top, is rotatably connected with the arc-shaped table top, can rotate 0-120 degrees in a horizontal plane, and is connected with one end, far away from the first reversing unit, of the second reversing unit through a support.
As a further improvement of the invention, the upper limb rehabilitation robot with the force feedback function further comprises an upper computer, and the upper computer is connected with the force feedback control unit.
As a further improvement of the invention, the upper limb rehabilitation robot with the force feedback function further comprises a display, and the display is connected with the main body through a lifting shaft and is used for transmitting an immersive training rehabilitation program and a game image.
As a further improvement of the invention, the main body is provided with a fixed bearing caster capable of axially and linearly moving and a guide caster capable of 360-degree turning in a horizontal plane.
As a further improvement of the invention, the arc-shaped desktop is provided with a power supply display lamp, the power supply display lamp comprises a first LED lamp ring and a second LED lamp ring, and the first LED lamp ring and the second LED lamp ring are respectively used for power supply indication and motion indication.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an upper limb rehabilitation robot with a force feedback function, which can realize that under an active training mode, the position and angle data of a first reversing unit and a second reversing unit are collected in real time and are sent to a force feedback control unit, and when the positions and angles of the first reversing unit and the second reversing unit exceed preset range values, the force feedback control unit sends control signals to control the first reversing unit and the second reversing unit, so that a human body can obtain the touch feeling of force feedback, and the effect of stimulating the rehabilitation of terminal nerves is achieved.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which:
fig. 1 is an overall structural view of an upper limb rehabilitation robot with a force feedback function according to an embodiment of the present invention;
fig. 2 is a partial structural view of an upper limb rehabilitation robot with force feedback function according to an embodiment of the present invention;
fig. 3 is a second partial structure diagram of an upper limb rehabilitation robot with force feedback function according to an embodiment of the present invention;
fig. 4 is a third partial structure diagram of an upper limb rehabilitation robot with force feedback function according to an embodiment of the present invention;
in the figure:
1-display, 2-arc table top, 3-arm support base, 4-bracket, 5-main body, 6-fixed bearing caster, 7-guide caster, 8-emergency brake switch, 9-handle rotating handle, 10-handle, 11-lifting shaft, 12-power display lamp, 13-support, 14-second link mechanism, 15-linking base, 16-second driving motor and 17-first link mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
As shown in fig. 1 to 4, the present invention provides an upper limb rehabilitation robot with force feedback function, comprising:
a main body 5; in a specific application process, a middle-mounted square column is arranged on the main body 5 and can vertically move up and down through the driving of an internal screw rod;
the display 1 is connected with the main body 5 through a lifting shaft 11 and is used for transmitting an immersive training rehabilitation program and a game image; in the specific application process, a lifting shaft 11 which can be positioned and locked in a stepless manner, can vertically move up and down and can rotate left and right around the central line of a main shaft can be selected, and the lifting shaft 11 is arranged perpendicular to the horizontal plane;
the bracket 4 is connected with the main body 5 and is provided with an arc-shaped groove;
the arc-shaped tabletop 2 is matched with the arc-shaped groove and performs arc-shaped reversing along the arc-shaped groove; in a specific application process, the arc-shaped tabletop 2 performs arc-shaped reversing by taking a long arc edge as a center;
the first reversing unit and the second reversing unit are connected;
the monitoring unit is used for monitoring the real-time positions and angles of the first reversing unit and the second reversing unit;
a force feedback control unit (not shown in the figure), the input end of which is connected with the output end of the monitoring unit, and the output end of which is connected with the control ends of the first reversing unit and the second reversing unit;
and the handle unit is connected with the control ends of the first reversing unit and the second reversing unit.
In a specific implementation manner of the embodiment of the present invention, the first reversing unit includes a first link mechanism 17 and a first driving motor (not shown in the figure) connected together; the first connecting rod mechanism 17 is arranged on the arc-shaped table top 2 and can rotate around a connecting point of the first connecting rod mechanism 17 and the arc-shaped table top 2 around a shaft under the action of a first driving motor; the first driving motor is respectively connected with the grip unit and the force feedback control unit; first link mechanism 17 can select for use the link mechanism that can the horizontal hunting, fixes on arc desktop 2 through the base to with the first driving motor of hub connection, first driving motor can adopt drive servo motor.
In a specific implementation manner of the embodiment of the present invention, the second reversing unit includes a second link mechanism 14 and a second driving motor 16 connected to each other; the second link mechanism 14 is arranged on the arc-shaped tabletop 2, is connected with the first link mechanism 17, and can make telescopic motion relative to a connection point of the second link mechanism 17 and the second link mechanism under the action of a second driving motor 16; the second driving motor 16 is respectively connected with the grip unit and the force feedback control unit; the second link mechanism 14 may be a parallelogram link mechanism, the second link mechanism 14 is connected to the first link mechanism 17 through a link base 15, and the second driving motor 16 is installed below the link base 15.
In a specific implementation manner of the embodiment of the present invention, the monitoring unit includes a first position sensor (not shown in the figure), a first angle sensor (not shown in the figure), a second position sensor (not shown in the figure), and a second angle sensor (not shown in the figure);
the first position sensor and the first angle sensor are respectively used for measuring the real-time position and the angle of the first reversing unit;
and the second position sensor and the second angle sensor are respectively used for measuring the real-time position and angle of the second reversing unit.
In a specific implementation of the present embodiment, the grip unit includes a rotation handle 9 and a grip 10 connected; the rotating handle 9 is provided with a damper, and the swinging angle of the rotating handle is 0-90 degrees; the rotation angle of the handle 10 is 0-360 deg.
In a specific implementation manner of the embodiment of the present invention, an arm support 3 is further disposed on the arc table top 2, the arm support 3 is rotatably connected to the arc table top 2, can rotate 0 to 120 ° in a horizontal plane, and is connected to an end of the second reversing unit, which is far away from the first reversing unit, through a bracket 13, and the arm support 3 is used for placing an arm.
In a specific implementation manner of the embodiment of the present invention, the upper limb rehabilitation robot with force feedback function further includes an upper computer (not shown in the figure), and the upper computer is connected to the force feedback control unit.
In a specific implementation manner of the embodiment of the present invention, the main body 5 is provided with a fixed load-bearing caster 6 capable of moving linearly in an axial direction and a guide caster 7 capable of turning 360 degrees in a horizontal plane, in a specific implementation process, the fixed load-bearing caster 6 is installed at the front lower part of the main body 5, and the guide caster 7 is installed at the rear lower part of the main body 5.
In a specific implementation manner of the embodiment of the present invention, the arc-shaped desktop 2 is provided with a power display lamp 12, and the power display lamp 12 includes a first LED lamp ring and a second LED lamp ring, where the first LED lamp ring and the second LED lamp ring are respectively used for power indication and motion indication.
In a specific implementation manner of the embodiment of the present invention, emergency brake switches 8 on two edges of the long arc are disposed on the arc table top 2, and the emergency brake switches 8 are respectively connected to control ends of the first steering unit and the second steering unit to control emergency stop of the first steering unit and the second steering unit.
The working process of the robot is as follows:
adjusting the lifting shaft 11 to enable the display 1 to be in a suitable position in the field of view of the user;
adjusting the middle square column of the main body 5 to ensure that the height of the arc-shaped desktop 2 is within the proper height for the user to use;
the position of the arc-shaped table top 2 on the bracket 4 is adjusted by using the positioning holes (three positions which are arranged at the center and two sides of the arc-shaped groove and are respectively inclined by 45 degrees), the use point of a user is taken as the center, and the range after the use by switching the left hand and the right hand can be enlarged;
an arm support base 3 which can rotate in the horizontal plane is used for supporting the hand of a person.
During rehabilitation training, a human hand is placed on the arm supporting seat 3, the handle 10 is held by the hand, and the movement with four degrees of freedom can be realized through the back-and-forth movement of the telescopic second link mechanism 14 and the left-and-right movement of the first link mechanism 17, so that the flexible rehabilitation training is realized.
The position and angle data of the first reversing unit and the second reversing unit are collected in real time through the monitoring unit and are sent to the force feedback control unit, when the position and the angle of the first reversing unit and the second reversing unit exceed preset range values, the force feedback control unit sends control signals to control the first reversing unit and the second reversing unit, a human body can obtain force feedback touch feeling, and the effect of stimulating the recovery of the terminal nerves is achieved.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an upper limbs rehabilitation robot with force feedback function which characterized in that includes:
a main body;
the bracket is connected with the main body and is provided with an arc-shaped groove;
the arc-shaped desktop is matched with the arc-shaped groove and performs arc-shaped reversing along the arc-shaped groove;
the first reversing unit and the second reversing unit are connected;
the monitoring unit is used for monitoring the real-time positions and angles of the first reversing unit and the second reversing unit;
the input end of the force feedback control unit is connected with the output end of the monitoring unit, and the output end of the force feedback control unit is connected with the control ends of the first reversing unit and the second reversing unit;
and the handle unit is connected with the control ends of the first reversing unit and the second reversing unit.
2. The upper limb rehabilitation robot with force feedback function according to claim 1, wherein the first reversing unit comprises a first link mechanism and a first driving motor which are connected; the first connecting rod mechanism is arranged on the arc-shaped desktop and can rotate around a connecting point of the first connecting rod mechanism and the arc-shaped desktop around a shaft under the action of the first driving motor; the first driving motor is respectively connected with the grip unit and the force feedback control unit.
3. The upper limb rehabilitation robot with force feedback function according to claim 1, characterized in that: the second reversing unit comprises a second connecting rod mechanism and a second driving motor which are connected; the second connecting rod mechanism is arranged on the arc-shaped desktop, is connected with the first connecting rod mechanism and can do telescopic motion relative to a connecting point of the second connecting rod mechanism and the first connecting rod mechanism under the action of a second driving motor; the second driving motor is respectively connected with the grip unit and the force feedback control unit.
4. The upper limb rehabilitation robot with force feedback function according to claim 1, characterized in that: the monitoring unit comprises a first position sensor, a first angle sensor, a second position sensor and a second angle sensor; the first position sensor and the first angle sensor are respectively used for measuring the real-time position and the angle of the first reversing unit;
and the second position sensor and the second angle sensor are respectively used for measuring the real-time position and angle of the second reversing unit.
5. The upper limb rehabilitation robot with force feedback function according to claim 1, characterized in that: the grip unit comprises a rotating handle and a grip which are connected; the rotating handle is provided with a damper, and the swinging angle of the rotating handle is 0-90 degrees; the rotation angle of the handle is 0-360 degrees.
6. The upper limb rehabilitation robot with force feedback function according to claim 1, characterized in that: the arm supporting seat is further arranged on the arc-shaped table top and is connected with the arc-shaped table top in a rotating mode, the arm supporting seat can rotate 0-120 degrees in the horizontal plane, and the arm supporting seat is connected with one end, far away from the first reversing unit, of the second reversing unit through a support.
7. The upper limb rehabilitation robot with force feedback function according to claim 6, characterized in that: the upper limb rehabilitation robot with the force feedback function further comprises an upper computer, and the upper computer is connected with the force feedback control unit.
8. The upper limb rehabilitation robot with force feedback function according to claim 1, characterized in that: the upper limb rehabilitation robot with the force feedback function further comprises a display, and the display is connected with the main body through a lifting shaft and used for transmission of the immersive training rehabilitation program and the game images.
9. The upper limb rehabilitation robot with force feedback function according to claim 1, characterized in that: the main body is provided with a fixed bearing caster capable of axially and linearly moving and a guide caster capable of rotating 360 degrees in the horizontal plane.
10. The upper limb rehabilitation robot with force feedback function according to claim 1, characterized in that: the arc desktop is equipped with the power display lamp, the power display lamp includes first LED lamp ring and second LED lamp ring, first LED lamp ring and second LED lamp ring are used for carrying out power instruction and motion instruction respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010326049.1A CN111589058A (en) | 2020-04-23 | 2020-04-23 | Upper limb rehabilitation robot with force feedback function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010326049.1A CN111589058A (en) | 2020-04-23 | 2020-04-23 | Upper limb rehabilitation robot with force feedback function |
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| CN111589058A true CN111589058A (en) | 2020-08-28 |
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| CN202010326049.1A Pending CN111589058A (en) | 2020-04-23 | 2020-04-23 | Upper limb rehabilitation robot with force feedback function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113041547A (en) * | 2021-02-03 | 2021-06-29 | 上海小莫网络科技有限公司 | Spinning with screen rotating bracket |
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2020
- 2020-04-23 CN CN202010326049.1A patent/CN111589058A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113041547A (en) * | 2021-02-03 | 2021-06-29 | 上海小莫网络科技有限公司 | Spinning with screen rotating bracket |
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