CN114534192B - Multi-degree-of-freedom training device for upper limb rehabilitation - Google Patents
Multi-degree-of-freedom training device for upper limb rehabilitation Download PDFInfo
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- CN114534192B CN114534192B CN202210040709.9A CN202210040709A CN114534192B CN 114534192 B CN114534192 B CN 114534192B CN 202210040709 A CN202210040709 A CN 202210040709A CN 114534192 B CN114534192 B CN 114534192B
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- cylinder seat
- connecting cylinder
- seat
- servo motor
- gear
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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
- 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
- A63B23/14—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 for wrist joints
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention discloses a multi-degree-of-freedom training device for upper limb rehabilitation, and relates to the technical field of rehabilitation medical appliances. The steering knuckle comprises a plurality of steering knuckles which are hinged with each other, wherein each steering knuckle comprises a first connecting cylinder seat and a second connecting cylinder seat; a mounting rack is sleeved between the peripheral sides of the first connecting cylinder seat and the second connecting cylinder seat; one end of a steering joint positioned at the tail part is hinged with a grabbing frame; the rotating shaft end of the first servo motor is fixedly connected with the end part of the second connecting cylinder seat; a bevel gear is fixed at the rotating shaft end of the second servo motor; the second connecting cylinder seat is rotationally connected with a transmission fluted disc through a connecting shaft seat. According to the invention, the first servo motor drives the second connecting cylinder seat to rotate, the second servo motor in the second connecting cylinder seat drives the bevel gear to be meshed with the transmission fluted disc, and the bevel gear is meshed with the first half gear at the end part of the first connecting cylinder seat, so that the angle of the other steering knuckle is freely steered, and the rehabilitation training of the shoulder blade, the shoulder, the elbow and the wrist joint of a patient can be helped.
Description
Technical Field
The invention belongs to the technical field of rehabilitation medical appliances, and particularly relates to a multi-degree-of-freedom training device for upper limb rehabilitation.
Background
Upper limb rehabilitation is a purposeful, selected primary treatment of upper limb activity to maintain a functional training program that improves the assisted patient. The rehabilitation of the upper limbs can help the mental development disorder of the body or the temporary or permanent disabled caused by the development disorder, improve and enhance the ability of daily life such as self-care, work, leisure, recreation and the like to the maximum extent, enhance the quality of life and return to families and society.
The traditional rehabilitation means is to massage limbs by holding the arm of a patient by a doctor and move joints. The labor intensity is high, and the long-time effective rehabilitation effect cannot be maintained. So the rehabilitation of patients by the upper limb rehabilitation machine assisting doctors is necessarily a trend. At present, most domestic rehabilitation machines are relatively single in mode and are in a starting stage, and the rehabilitation machines exist in the existing rehabilitation machines: the use flexibility is poor, and the requirements of patients and doctors on rehabilitation machines are difficult to meet.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom training device for upper limb rehabilitation, which solves the problem of poor flexibility of the existing upper limb rehabilitation training device through the matched use of a steering knuckle, a mounting frame, a grabbing frame, a bevel gear and a transmission fluted disc.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a multi-degree-of-freedom training device for upper limb rehabilitation, which comprises a plurality of knuckle joints hinged with each other, wherein each knuckle joint comprises a first connecting cylinder seat and a second connecting cylinder seat; a mounting frame is sleeved between the peripheral side surfaces of the first connecting cylinder seat and the second connecting cylinder seat;
one end of the steering knuckle positioned at the tail part is hinged with a grabbing frame;
a first servo motor is fixed inside one end of the first connecting cylinder seat; the rotating shaft end of the first servo motor is fixedly connected with the end part of the second connecting cylinder seat; the other end of the first connecting cylinder seat is fixed with a first half gear;
a second servo motor is fixed inside one end of the second connecting cylinder seat; a bevel gear is fixed at the rotating shaft end of the second servo motor; the inner side of one end, close to the second servo motor, of the second connecting cylinder seat is provided with a connecting shaft seat; the second connecting cylinder seat is rotationally connected with a transmission fluted disc meshed with the bevel gear and the first half gear through a connecting shaft seat;
the second connecting cylinder seat is hinged with a connecting hinge through a connecting shaft seat; the other end of the connecting hinge is hinged with the end part of the first connecting cylinder seat of the adjacent steering knuckle.
As a preferable technical scheme of the invention, a limiting guide ring is arranged on one end face of the first connecting cylinder seat; the side surface of the periphery of the first connecting cylinder seat is provided with a first limit ring groove; a limiting guide groove matched with the limiting guide ring is formed in one end face, far away from the transmission fluted disc, of the second connecting cylinder seat; the shaft coupler is fixedly connected with the rotating shaft end of the first servo motor at the inner side of the limiting guide groove and is positioned at one end face of the second connecting cylinder seat; the second connecting shaft seat is provided with a second limiting ring groove on the outer peripheral side surface, in short, the first connecting cylinder seat is in limiting connection with the limiting guide groove at the end part of the second connecting cylinder seat through a limiting guide ring, and the second connecting cylinder seat is enabled to rotate under the action of the first servo motor.
As a preferable technical scheme of the invention, the mounting frame comprises an arc-shaped arm plate; the outer peripheral side surfaces of the two ends of the arc-shaped arm plate are respectively provided with a rotary lantern ring which is in limit rotation with the first limit ring groove and the second limit ring groove; the peripheral side surface of the rotary lantern ring is in threaded connection with a fastening bolt; the utility model discloses a steering knuckle, including rotatory lantern ring, rotatory lantern ring inboard both sides all are equipped with mutual bonding complex magic tape, and in short, the mounting bracket is connected through the first connection cylinder seat and the second connection cylinder seat of rotatory lantern ring and knuckle mutually rotation, and the knuckle is through arc arm board and magic tape and patient's arm fixed connection.
As a preferable technical scheme of the invention, one end of the grabbing frame is provided with a second half gear; one end of the grabbing frame, which is close to the second half gear, is hinged with a connecting shaft seat of one second connecting cylinder seat through a connecting hinge; a gripping handle is rotatably connected between the two side surfaces of the other end of the gripping frame; finger-shaped grooves are formed in the lateral sides of the periphery of the grabbing handle, in short, a patient grabs through the grabbing handle, and the second half gear at the end part of the grabbing frame overturns under the meshing action of the transmission fluted disc.
As a preferable technical scheme of the invention, the two surfaces of the transmission fluted disc are mutually sleeved with the connecting shaft seat; the outer circumference side half ring annular array of the transmission fluted disc is provided with a meshing tooth slot which is meshed with the first half gear and the second half gear; the other half circle of surface annular array of the transmission gear is provided with a planar tooth socket matched with the bevel gear, in short, the second servo motor drives the bevel gear to rotate when rotating, and the bevel gear is meshed with the planar tooth socket of the transmission fluted disc when rotating, so that the transmission fluted disc rotates and is meshed with the first half gear at the end part of the other first connecting cylindrical seat.
The invention has the following beneficial effects:
1. according to the invention, through the cooperation of the steering knuckle, the mounting frame, the grabbing frame, the bevel gear and the transmission fluted disc, the first servo motor in the first connecting cylinder seat drives the second connecting cylinder seat to rotate when rotating, and the second servo motor in the second connecting cylinder seat drives the bevel gear to be meshed with the transmission fluted disc when rotating, and is meshed with the first half gear at the end part of the first connecting cylinder seat, the angle of the other steering knuckle is freely steered, the use is flexible, and the rehabilitation training of shoulder blades, shoulders, elbows and wrist joints can be helped for patients.
2. According to the invention, the multiple steering knuckles are used in series, so that the degree of freedom is high, the upper limbs of a patient are subjected to more complete and comprehensive rehabilitation training, the training efficiency is improved, the whole structure can be freely adjusted according to different patients, the rehabilitation training of patients with any body shape can be met, meanwhile, the steering space is large, the range is wide, the carrying and the use are convenient, and the actual use needs are met.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a multi-degree-of-freedom training device for upper limb rehabilitation according to the present invention.
Fig. 2 is a schematic cross-sectional view of a multi-degree-of-freedom training device for upper limb rehabilitation.
Fig. 3 is an enlarged view at a in fig. 2.
Fig. 4 is a schematic structural view of the first connection cylinder base.
Fig. 5 is a schematic structural view of the second connection socket.
Fig. 6 is a schematic structural view of the mounting frame.
Fig. 7 is a schematic structural view of the grasping frame.
Fig. 8 is a schematic structural view of a driving fluted disc.
In the drawings, the list of components represented by the various numbers is as follows:
the steering device comprises a steering knuckle, a mounting frame, a 3-grabbing frame, a 4-first servo motor, a 5-second servo motor, a 6-bevel gear, a 7-transmission fluted disc, an 8-connection hinge, a 101-first connection cylinder seat, a 1011-first half gear, a 1012-limit guide ring, a 1013-first limit ring groove, a 102-second connection cylinder seat, 1021-connection shaft seats, 1022-limit guide grooves, a 1023-coupling, a 1024-second limit ring groove, a 201-arc-shaped arm plate, a 202-rotation collar, 203-fastening bolts, 204-magic tape, a 301-second half gear, a 302-grabbing handle, 701-meshing tooth grooves and 702-plane tooth grooves.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
Referring to fig. 1-8, the invention is a multi-degree-of-freedom training device for upper limb rehabilitation, comprising a plurality of knuckle joints 1 hinged with each other,
the knuckle 1 comprises a first connection cylinder seat 101 and a second connection cylinder seat 102; a mounting frame 2 is sleeved between the peripheral sides of the first connecting cylinder seat 101 and the second connecting cylinder seat 102;
wherein, one end of a steering joint 1 positioned at the tail part is hinged with a grabbing frame 3;
a first servo motor 4 is fixed inside one end of the first connecting cylinder seat 101; the rotating shaft end of the first servo motor 4 is fixedly connected with the end part of the second connecting cylinder seat 102 through a coupler 1023; the other end of the first connecting cylinder seat 101 is fixed with a first half gear 1011; a limiting guide ring 1012 is arranged on one end face of the first connecting cylinder seat 101; the outer peripheral side surface of the first connecting cylinder seat 101 is provided with a first limit ring groove 1013;
a limiting guide groove 1022 matched with the limiting guide ring 1012 is formed in one end surface of the second connecting cylinder seat 102 far away from the transmission fluted disc 7; a coupler 1023, which is positioned at one end face of the second connecting cylinder seat 102 and positioned at the inner side of the limiting guide slot 1022, is fixedly connected with the rotating shaft end of the first servo motor 4, and the rotating shaft ends are mutually fixed; a second limiting ring groove 1024 is formed in the peripheral side surface of the second connecting shaft seat 102; the mounting frame 2 comprises an arc-shaped arm plate 201; the outer peripheral side surfaces of the two ends of the arc-shaped arm plate 201 are respectively provided with a rotary lantern ring 202 which is in limit rotation with the first limit ring groove 1013 and the second limit ring groove 1024; the peripheral side surface of the rotary collar 202 is connected with a fastening bolt 203 in a threaded manner; the two edges of the inner side of the rotary lantern ring 202 are respectively provided with a magic tape 204 which are mutually bonded and matched; a second servo motor 5 is fixed inside one end of the second connecting cylinder seat 102; a bevel gear 6 is fixed at the rotating shaft end of the second servo motor 5; the inner side of one end, close to the second servo motor 5, of the second connecting cylinder seat 102 is provided with a connecting shaft seat 1021; the second connecting cylinder seat 102 is rotationally connected with a transmission fluted disc 7 meshed with the bevel gear 6 and the first half gear 1012 through a connecting shaft seat 1021; the two surfaces of the transmission fluted disc 7 are mutually sleeved with the connecting shaft seat 1021; the annular array of the half circle on the outer periphery of the transmission fluted disc 7 is provided with a meshing tooth groove 701 which is meshed with the first half gear 1011 and the second half gear 301; the other half circle of surface of the transmission gear 7 is provided with a planar tooth socket 702 matched with the bevel gear 6 in an annular array;
the second connecting cylinder seat 102 is hinged with a connecting hinge 8 through a connecting shaft seat 1021; the other end of the connecting hinge 8 is hinged with the end part of the first connecting cylinder seat 102 of the adjacent steering knuckle 1; a second half gear 301 is arranged at one end of the grabbing frame 3; one end of the grabbing frame 3, which is close to the second half gear 301, is hinged with a connecting shaft seat 1021 of one second connecting cylinder seat 102 through a connecting hinge 8; a gripping handle 302 is rotatably connected between the two side surfaces of the other end of the gripping frame 3; finger-shaped grooves are formed in the outer peripheral side surfaces of the grab handle 302.
More preferably, the plurality of mounting frames 2 which are connected with the knuckle 1 in a rotating way are fixedly arranged with the arm of the patient through the arc-shaped arm plate 201 and the magic tape 204, the finger of the patient is grabbed and fixed through the finger-shaped groove of the grabbing handle 302, according to the size of the upper arm of the patient, the fastening bolts 203 which are connected with the knuckle 1 at the two ends of the upper arm of the patient are screwed, according to the size of the lower arm of the patient, the fastening bolts 203 which are connected with the knuckle 1 at the two ends of the lower arm of the patient are screwed, so that the use of patients with different sizes is satisfied, when the lateral rotation rehabilitation training of the upper limb of the patient is needed, the first servo motor 4 in the first connecting cylinder seat 101 corresponding to the knuckle 1 is rotated, and because the end part of the first connecting cylinder seat 101 is connected with the limiting guide groove 1022 of the second connecting cylinder seat 102 in a limiting way through the limiting guide ring 1012, when the first servo motor 4 is rotated, the second connecting cylinder seat 102 corresponding to the knuckle 1 is driven to rotate through the coupling 1023, and the lateral rotation free training of the upper limb of the patient is satisfied; when the upper limb of a patient is required to be bent and recovered, the second servo motor 5 in one second connecting cylinder seat 102 positioned at the joint is rotated, the bevel gear 6 is driven to rotate by the second servo motor 5 when rotating, the bevel gear 6 is mutually matched with the plane tooth groove 702 of the transmission tooth disc 7 when rotating so that the transmission tooth disc 7 rotates, the meshing tooth groove 701 positioned on the peripheral side surface of the transmission tooth disc 7 is mutually meshed with the first half gear 1011 of the other first connecting cylinder seat 101 or the second half gear 301 positioned at the end part of the grabbing frame 3, and the upper limb of the patient is bent and recovered under the connecting action of the connecting hinge 8, so that the upper limb of the patient is convenient to carry and use, and the requirement of actual use is met.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (4)
1. The utility model provides a recovered multi freedom trainer of using of upper limbs, includes a plurality of articulated knuckle (1) each other, its characterized in that:
the steering knuckle (1) comprises a first connecting cylinder seat (101) and a second connecting cylinder seat (102); a mounting frame (2) is sleeved between the peripheral sides of the first connecting cylinder seat (101) and the second connecting cylinder seat (102);
one end of the steering knuckle (1) positioned at the tail part is hinged with a grabbing frame (3);
a first servo motor (4) is fixed inside one end of the first connecting cylinder seat (101); the rotating shaft end of the first servo motor (4) is fixedly connected with the end part of the second connecting cylinder seat (102); a first half gear (1011) is fixed at the other end of the first connecting cylinder seat (101);
a second servo motor (5) is fixed inside one end of the second connecting cylinder seat (102); a bevel gear (6) is fixed at the rotating shaft end of the second servo motor (5); a connecting shaft seat (1021) is arranged on the inner side of one end, close to the second servo motor (5), of the second connecting cylinder seat (102); the second connecting cylinder seat (102) is rotationally connected with a transmission fluted disc (7) which is meshed with the bevel gear (6) and the first half gear (1011) through a connecting shaft seat (1021);
the second connecting cylinder seat (102) is hinged with a connecting hinge (8) through a connecting shaft seat (1021); the other end of the connecting hinge (8) is hinged with the end part of a first connecting cylinder seat (101) of the adjacent steering knuckle (1);
a second half gear (301) is arranged at one end part of the grabbing frame (3); one end of the grabbing frame (3) close to the second half gear (301) is hinged with a connecting shaft seat (1021) of one second connecting cylinder seat (102) through a connecting hinge (8);
the two surfaces of the transmission fluted disc (7) are mutually sleeved with the connecting shaft seat (1021); a half ring annular array on the periphery side of the transmission fluted disc (7) is provided with meshing tooth grooves (701) which are meshed with the first half gear (1011) and the second half gear (301); the other half circle of surface of the transmission gear (7) is provided with a plane tooth slot (702) matched with the bevel gear (6) in an annular array manner;
a limiting guide ring (1012) is arranged on one end face of the first connecting cylinder seat (101); a first limit ring groove (1013) is formed in the side surface of the outer periphery of the first connecting cylinder seat (101);
a limiting guide groove (1022) matched with the limiting guide ring (1012) is formed in one end face, far away from the transmission fluted disc (7), of the second connecting cylinder seat (102); a coupler (1023) with mutually fixed rotating shaft ends of the first servo motor (4) is fixedly connected to one end face of the second connecting cylinder seat (102) and positioned at the inner side of the limiting guide groove (1022); a second limiting ring groove (1024) is formed in the side surface of the outer periphery of the second connecting shaft seat (102);
a second half gear (301) is arranged at one end part of the grabbing frame (3); one end of the grabbing frame (3) close to the second half gear (301) is hinged with a connecting shaft seat (1021) of one second connecting cylinder seat (102) through a connecting hinge (8);
the two surfaces of the transmission fluted disc (7) are mutually sleeved with the connecting shaft seat (1021); a half ring annular array on the periphery side of the transmission fluted disc (7) is provided with meshing tooth grooves (701) which are meshed with the first half gear (1011) and the second half gear (301); the other half circle of surface of the transmission gear (7) is provided with a plane tooth slot (702) matched with the bevel gear (6) in an annular array.
2. The multi-degree of freedom training device for rehabilitation of upper limbs according to claim 1, characterized in that the mounting frame (2) comprises an arc-shaped arm plate (201); the outer peripheral side surfaces of two ends of the arc-shaped arm plate (201) are respectively provided with a rotary lantern ring (202) which is in limit rotation with the first limit ring groove (1013) and the second limit ring groove (1024).
3. The multi-degree-of-freedom training device for rehabilitation of upper limbs according to claim 2, wherein the peripheral side surface of the rotary collar (202) is connected with a fastening bolt (203) through screw threads; the two edges of the inner side of the rotary lantern ring (202) are respectively provided with a magic tape (204) which are mutually bonded and matched.
4. A multi-degree-of-freedom training device for rehabilitation of upper limbs according to claim 3, wherein a grip handle (302) is rotatably connected between two side surfaces of the other end of the gripping frame (3); finger-shaped grooves are formed in the outer circumferential side face of the grabbing handle (302).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210040709.9A CN114534192B (en) | 2022-01-14 | 2022-01-14 | Multi-degree-of-freedom training device for upper limb rehabilitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210040709.9A CN114534192B (en) | 2022-01-14 | 2022-01-14 | Multi-degree-of-freedom training device for upper limb rehabilitation |
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| Publication Number | Publication Date |
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| CN114534192A CN114534192A (en) | 2022-05-27 |
| CN114534192B true CN114534192B (en) | 2023-08-01 |
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| CN202210040709.9A Active CN114534192B (en) | 2022-01-14 | 2022-01-14 | Multi-degree-of-freedom training device for upper limb rehabilitation |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101125112B (en) * | 2007-09-20 | 2010-06-30 | 华中科技大学 | Wearing type upper limb recovery training robot device |
| US20190201273A1 (en) * | 2016-09-09 | 2019-07-04 | Qatar Foundation For Education, Science, And Community Development | Robotic upper limb rehabilitation device |
| CN211610257U (en) * | 2018-12-29 | 2020-10-02 | 日照市中医医院 | Elbow joint fixing device for orthopedic nursing |
| CN110813956B (en) * | 2019-11-26 | 2021-05-04 | 西安文理学院 | Pipe network dredging robot device with cleaning function |
| CN111110509A (en) * | 2019-12-25 | 2020-05-08 | 南京理工大学 | Interchangeable and evading strange seven-degree-of-freedom upper limb exoskeleton rehabilitation robot |
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Inventor after: Wang Hongbo Inventor after: Luo Jingjing Inventor after: Guo Shijie Inventor after: Chen Li Inventor after: Duan Wenke Inventor after: Zhang Weiqi Inventor after: Lai Zhiping Inventor after: Zhou Haoyu Inventor after: Jiang Jinlei Inventor before: Wang Hongbo Inventor before: Luo Jingjing Inventor before: Chen Li Inventor before: Duan Wenke Inventor before: Zhang Weiqi Inventor before: Lai Zhiping Inventor before: Zhou Haoyu Inventor before: Jiang Jinlei |
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