CN104941111A - Six-degree of freedom magnetic drive vibrating training platform - Google Patents
Six-degree of freedom magnetic drive vibrating training platform Download PDFInfo
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- CN104941111A CN104941111A CN201510385457.3A CN201510385457A CN104941111A CN 104941111 A CN104941111 A CN 104941111A CN 201510385457 A CN201510385457 A CN 201510385457A CN 104941111 A CN104941111 A CN 104941111A
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Abstract
The invention discloses a six-degree of freedom magnetic drive vibrating training platform. The six-degree of freedom magnetic drive vibrating training platform is characterized in that the platform comprises a four-layer mechanism which is composed of a first layer plate, a second layer plate, a third layer plate, a fourth layer plate and a fifth layer plate. The six-degree of freedom magnetic drive vibrating training platform is simple in structure, the magnetic levitation technique, the mechanical principle and the like are ingeniously combined, mechanotronics mechanical-electrical integration is achieved, and the vibrating training effect is better.
Description
Technical field
What patent of the present invention related to is a kind of physical education facilities, and during mainly for vibration training, to a kind of device that the overall vibration of muscle stimulates, namely six degree of freedom magnetic force drives oscillatory type muscular training platform.
Background technology
The vibration frequency that existing vibration training equipment can provide and waveform comparatively limited, generally can only control harmonic vibration.In the epoch of present people's pay attention to day by day body building, how efficiently training has become the focus that people pay close attention to, and vibration training is popular, but corresponding equipment is but also more outmoded, does not reach desirable effect.
Summary of the invention
Goal of the invention: the invention provides a kind of six degree of freedom magnetic force and drive oscillatory type muscular training platform, its objective is the problem that in the vibration training existing for solution equipment in the past, muscular training is insufficient.
Technical scheme: the present invention is achieved through the following technical solutions:
A kind of six degree of freedom magnetic force drives oscillatory type muscular training platform, it is characterized in that: this platform comprises the four layers of mechanism be made up of top-down first laminate, the second laminate, third layer plate, the 4th laminate and layer 5 plate;
Ground floor mechanism comprises the first laminate and the second laminate, second laminate is provided with E type silicon steel sheet and is arranged on the electromagnet coil in E type silicon steel sheet, electromagnet coil is corresponding with the permanent magnet be arranged on bottom permanent magnet adpting flange, and permanent magnet adpting flange is flexibly connected with the Hooks coupling universal coupling be arranged on bottom the first laminate;
Second layer mechanism comprises third layer plate, is arranged on the line slideway slide rail on third layer plate and coordinates with line slideway slide rail and the straight-line guide rail slide block that can slide on line slideway slide rail, and straight-line guide rail slide block is arranged on bottom the second laminate;
Third layer mechanism comprises the 4th laminate, be arranged on horizontal drive electromagnet coil on the 4th laminate and the horizontal direction permanent magnet flange corresponding with horizontal drive electromagnet coil; Horizontal direction permanent magnet flange is arranged on horizontal direction permanent magnet flange side, and horizontal direction permanent magnet flange is arranged on the bottom of third layer plate; The activity of horizontal direction permanent magnet flange to be arranged on horizontal direction guide rail and can slide on rails in the horizontal direction, the direction of horizontal direction guide rail is vertical with the direction of line slideway slide rail; 4th laminate is Neng Yi center is that the structure rotated relative to layer 5 plate level is done in the center of circle;
4th layer of mechanism comprises layer 5 plate, mover and stator, and mover is arranged on bottom the 4th laminate, and stator is arranged on layer 5 plate.
Second laminate is provided with linear bearing, and Hooks coupling universal coupling is can do the structure moved up and down under the position-limiting action of linear bearing.
The stopping means of the sliding distance of sensor installation pedestal and straight limit guide rail slide block is provided with between third layer plate and the second laminate.
The stopping means of restriction third layer plate guide rail displacement is in the horizontal direction provided with between third layer plate and the 4th laminate, this stopping means comprises the solid Horizontal limiting block being arranged on flat hollow limit chamber on the 4th laminate and being arranged on bottom third layer plate, realizes spacing in the opening that solid Horizontal limiting block puts in flat hollow limit chamber.
Be provided with between 4th laminate with layer 5 plate and intersect bearing.
This training platform also comprises rotary encoder, and the axle head of this rotary encoder is arranged on the centre of the 4th laminate, and large end is arranged in the middle of layer 5 plate.
The mechanism that E type silicon steel sheet, electromagnet coil, permanent magnet adpting flange, permanent magnet and Hooks coupling universal coupling form is three covers, and the form in 3 even branches is arranged between the first laminate and the second laminate.
Advantage and effect: the invention provides a kind of six degree of freedom magnetic force and drive oscillatory type muscular training platform, 6DOF magnetically-actuated oscillatory type muscular training platform involved in the present invention is that the scheme simulating whole-body muscle vibration completely carries out designing, the vibration of whole-body muscle is not only in a direction, also can should vibrate in multiple directions, thus make muscular training more fully effectively, in view of the vibration training equipment existed at present can only vibrate in a direction mostly, and the problems such as the waveform of vibration single (can only harmonic vibration), based on frame for movement and magnetic levitation technology, a kind of realistic plan is provided to solve in vibration training, vibrational waveform any, any adjustment of amplitude in any and stroke range of frequency, and the problem such as the training of muscle is insufficient.
The technical scheme that object of the present invention realizes is the vibration that four-layer structure realizes the different free degree respectively; Ground floor mechanism can realize XY axle and rotate Z-direction translation; Second layer mechanism can realize X-direction translation; Third layer mechanism can realize Y-direction translation; 4th layer of mechanism can realize Z axis and rotate.
When designing this device, be stand on platform according to subject, Platform Vibration and then drive the principle of subject forced vibration to carry out designing.Ground floor mechanism comprises the components such as the first laminate, the second laminate, Hooks coupling universal coupling, line slideway, solenoid, permanent magnet, permanent magnet mounting flange, bolt, current vortex sensor and forms.Second layer mechanism comprises the components such as third layer plate, solenoid, permanent magnet, installation permanent magnet device, Horizontal limiting block, bolt, linear guides, current vortex sensor and forms.Third layer mechanism comprises the components such as the 4th laminate, solenoid, permanent magnet, installation permanent magnet device, Horizontal limiting block, bolt, linear guides, current vortex sensor and forms.4th layer of mechanism comprises the component such as layer 5 plate, intersection bearing, rotary encoder, solenoid, permanent magnet, installation rotary encoder flange, bolt and forms.Time subject carries out muscle vibration training, platform is stood, driven by the repulsion between electromagnet successively and permanent magnet, and carry out position Detection & Controling by current vortex sensor and rotary encoder.
In described 6DOF magnetically-actuated oscillatory type muscular training platform, the material that each laminate uses is aluminium, electromagnetism winding coil material selection copper, all the other materials 45 steel.
Six degree of freedom magnetic force drives oscillatory type muscular training platform to be with a wide range of applications in medical system, muscular training etc.The application belongs to basic physical education facilities, and it has direct impact to comprehensive stimulation of muscle in vibration training.From existing physical education facilities, vibration training equipment mainly also concentrates on single-degree-of-freedom, and individual plants can realize 3DOF, does not only have the vibration training equipment of the comprehensive stimulated muscle of 6DOF; And the report be not also applied to by magnetic levitation technology now in vibration training equipment, the magnetic levitation technology advantage be applied in vibration training equipment is exactly to adjust arbitrarily any amplitude in the waveform of vibration, frequency and stroke range as required.And vibration muscular training also has positive effect for the physical vibration therapy of the diseases such as muscular atrophy.The present invention, by successively realizing the motion of different directions, then by magnetic levitation technology, controls, these motions can be linked arbitrarily, thus successfully solve the problem that in vibration training, muscular training is insufficient.
Structure of the present invention is simple, and cleverly by the combination such as magnetic levitation technology and theory of mechanics, achieve electromechanical integration, vibration training result is better.
accompanying drawing illustrates:
Fig. 1 is entirety assembling schematic diagram of the present invention
Fig. 2 is the driving mechanism schematic diagram that Z axis of the present invention rotates
In figure: 1 layer 5 plate 2 external box wall 3 intersects bearing 4 the 4th laminate 5 bolt 6 Horizontal limiting block (hollow) 7 Horizontal limiting block (solid) 8 third layer plate 9 circular gasket 10 second laminate 11 to be sold 12E type silicon steel sheet 13 electromagnet coil 14 permanent magnet adpting flange 15 permanent magnet 16 Hooks coupling universal coupling 17 and connect Hooks coupling universal coupling flange 18 first laminate 19 horizontal direction permanent magnet flange 20 horizontal direction permanent magnet 21 straight-line guide rail slide block 22 line slideway slide rail 23 upper cover plate 24 lower margin base for supporting 25 lower margin holding nut 26 lower margin studdle 27 stator 28 rotor 29 rotary encoder large end mounting flange 30 rotary encoder 31 rotary encoder small end mounting flange 32 fixed rotor flange 33 sensor installation pedestal, 34 linear bearings, 35 horizontal drive electromagnet coils, 36 horizontal direction guide rails, 37 stopping means.
detailed description of the invention:below in conjunction with accompanying drawing, the present invention is described further:
As shown in Figure 1, the invention provides a kind of six degree of freedom magnetic force and drive oscillatory type muscular training platform, this platform comprises the four layers of mechanism be made up of top-down first laminate 18, second laminate 10, third layer plate 8, the 4th laminate 4 and layer 5 plate 18;
Ground floor mechanism comprises the first laminate 18 and the second laminate 10, the electromagnet coil 13 second laminate 10 being provided with E type silicon steel sheet 12 and being arranged in E type silicon steel sheet 12, electromagnet coil 13 is corresponding with the permanent magnet 15 be arranged on bottom permanent magnet adpting flange 14, and permanent magnet adpting flange 14 is flexibly connected with the Hooks coupling universal coupling 16 be arranged on bottom the first laminate 18;
Second layer mechanism comprises third layer plate 8, is arranged on the line slideway slide rail 22 on third layer plate 8 and coordinates with line slideway slide rail 22 and the straight-line guide rail slide block 21 that can slide on line slideway slide rail 22, and straight-line guide rail slide block 21 is arranged on bottom the second laminate 10;
Third layer mechanism comprises the 4th laminate 4, be arranged on horizontal drive electromagnet coil 35 on the 4th laminate 4 and the horizontal direction permanent magnet flange 20 corresponding with horizontal drive electromagnet coil 35; Horizontal direction permanent magnet flange 20 is arranged on horizontal direction permanent magnet flange 19 side, and horizontal direction permanent magnet flange 19 is arranged on the bottom of third layer plate 8; Being arranged on horizontal direction guide rail 36 and can in the horizontal direction guide rail 36 sliding of horizontal direction permanent magnet flange 19 activity, the direction of horizontal direction guide rail 36 is vertical with the direction of line slideway slide rail 22; 4th laminate 4 for Neng Yi center be that the structure horizontally rotated relative to layer 5 plate 1 is done in the center of circle;
4th layer of mechanism comprises layer 5 plate 1, mover 27 and stator 28, and mover 27 is arranged on bottom the 4th laminate 4, and stator 28 is arranged on layer 5 plate 1.
Ground floor mechanism can realize Z-direction translation, or realizes and X, Y-axis place plane are the return motion of an angle; Second layer mechanism can realize X-direction parallel moving mechanism; Third layer mechanism can realize Y-direction parallel moving mechanism; 4th layer of mechanism can realize with Z axis being the rotating mechanism of axle.Successively realize the motion of different directions.Described 6DOF is X, Y, the translation of Z-direction and the rotation of X, Y, Z axis.Described driving force refers to and to drive this equipment with magnetic force.Described magnetic suspension control can realize the vibration of any amplitude in random waveform, optional frequency, stroke range.
As shown in fig. 1, face perpendicular to paper is the plane at X-axis and Y-axis place, the face at paper place is the face at Z axis place, X-direction motion is just perpendicular to the motion in paper direction, the motion of Y-direction is exactly left and right directions in the drawings, and the motion of Z-direction is exactly the direction moved up and down in the drawings.
Second laminate 10 is provided with linear bearing 34, and Hooks coupling universal coupling 16 is can do the structure moved up and down under the position-limiting action of linear bearing 34.
The stopping means 37 of the sliding distance of sensor installation pedestal 33 and straight limit guide rail slide block 21 is provided with between third layer plate 8 and the second laminate 10.
The stopping means of restriction third layer plate 8 guide rail 36 displacement is in the horizontal direction provided with between third layer plate 8 and the 4th laminate 4, this stopping means comprises the solid Horizontal limiting block 7 being arranged on flat hollow limit chamber on the 4th laminate 46 and being arranged on bottom third layer plate 8, realizes spacing in the opening that solid Horizontal limiting block 7 puts in flat hollow limit chamber 6.
Be provided with between 4th laminate 4 with layer 5 plate 1 and intersect bearing 3.
This training platform also comprises rotary encoder 30, and the axle head of this rotary encoder 30 is arranged on the centre of the 4th laminate 4, and large end is arranged in the middle of layer 5 plate 1.
E type silicon steel sheet 12, electromagnet coil 13, permanent magnet adpting flange 14, the mechanism that permanent magnet 15 and Hooks coupling universal coupling 16 form is three covers, form in 3 even branches is arranged between the first laminate 18 and the second laminate 10, that is 3 Hooks coupling universal couplings are divided equally on the first laminate by bolt, the Hooks coupling universal coupling other end connects linear bearing, flanged (FLGD) linear bearing selected by linear bearing, linear bearing stator is bolted on the second laminate, solenoid installed by second laminate, Hooks coupling universal coupling installs permanent magnet, permanent magnet is installed by installing permanent magnet flange, position detecting device is arranged in the spatial dimension at permanent magnet and solenoid place, in order to control the motion of the first laminate.
X-direction translation is second layer mechanism, line slideway slide rail 22 is fixed on third layer plate, straight-line guide rail slide block is fixed on the second laminate, lead, current vortex sensor and Horizontal limiting block are installed, in order to control the motion of X-direction and to prevent that amplitude is excessive occurs accident between the second laminate and third layer plate.
Y-direction translation is third layer mechanism, is realized by horizontal direction guide rail 36.
Described Z axis rotates Shi Siceng mechanism, the Internal and external cycle of intersection bearing is arranged on the 4th laminate and four or five laminates respectively by bolt, rotary encoder flange is arranged on the center of layer 5 plate, rotary encoder is arranged on flange by interference fit, magnetic stator is fixed by flange and the bearing inner race that intersects, solenoid rotor is fixed on intersecting axle bearing outer-ring, is driven, by rotary encoder control position by solenoid and permanent magnet.Described permanent magnet is exactly the stator 27 shown in Fig. 1, and solenoid is rotor 28.
In the present invention, 1 is layer 5 plate, is bottom plate, connects lower margin below and supports, successively install Ge Ceng mechanism above.The bearing 3 that intersects is arranged on layer 5 plate 1, stator 27 is arranged on the inner ring of 3 by interference fit, installing rotor flange 32 is arranged on 1 by bolt, the large end mounting flange 29 of rotary encoder is arranged on 1 by bolt, rotary encoder axle head mounting flange is arranged on 4, and rotary encoder is arranged on 29,31 by interference fit.Led by intersection bearing 3, detect position by rotary encoder 30, realize Z axis and rotate.
Horizontal direction permanent magnet is arranged on 19 by gummed, sensor installation pedestal 33 is arranged in the opposite side of 4, be bolted, be used for detecting the position of Y-direction translation, straight-line guide rail slide block 21 is bolted on third layer plate, line slideway slide rail 22 is arranged on 4, by 20,35 guiding, realizes Y-direction translation;
First laminate 18 and the second laminate 10 the selection of material are aluminium alloy, and Hooks coupling universal coupling 16 is bolted and connects on Hooks coupling universal coupling flange 17, then is connected to 17 on the first laminate 18 by bolt.Vertical direction permanent magnet adpting flange 14 is connected to the upper end of Hooks coupling universal coupling 16 by interference fit, vertical direction permanent magnet 15 is connected on 14 by gummed, after E type silicon steel sheet 12 and electromagnet coil 13 assemble, be arranged on 10 by pin 11, linear bearing 34 is arranged on 10, by the guiding of linear bearing 34, realizes the translation of Z-direction, linked by the cooperation of Hooks coupling universal coupling 16 and linear bearing 34, realize X, Y-axis is rotated.So-called X, Y-axis are rotated namely said above, doing with the second laminate is the flip-flop movement of an angle, because Hooks coupling universal coupling 16 is three, the distance of Hooks coupling universal coupling 16 along Y direction movement can be controlled by adjustment electromagnet coil 13 and permanent magnet 15, when three some displacements are different, just there will be the form that sinking another side on one side tilts, material is thus formed upset, is alternatively the rotation that is benchmark with the face at X, Y-axis place.
Cooperation between the application passes through successively, realize the motion in 6 directions, layer 5 plate 1 is mounting foot supporting mechanism below, and lower margin supporting mechanism is made up of lower margin base for supporting 24, lower margin holding nut 25 and lower margin studdle 26.Outside whole machine, an external box wall 2 is installed, the corrosion resistant plate that the material selection 3mm of external box wall is thick.
Claims (7)
1. six degree of freedom magnetic force drives an oscillatory type muscular training platform, it is characterized in that: this platform comprises the four layers of mechanism be made up of top-down first laminate (18), the second laminate (10), third layer plate (8), the 4th laminate (4) and layer 5 plate (18);
Ground floor mechanism comprises the first laminate (18) and the second laminate (10), second laminate (10) is provided with E type silicon steel sheet (12) and is arranged on the electromagnet coil (13) in E type silicon steel sheet (12), electromagnet coil (13) is corresponding with the permanent magnet (15) being arranged on permanent magnet adpting flange (14) bottom, and permanent magnet adpting flange (14) is flexibly connected with the Hooks coupling universal coupling (16) being arranged on the first laminate (18) bottom;
Second layer mechanism comprises third layer plate (8), is arranged on the line slideway slide rail (22) on third layer plate (8) and coordinates with line slideway slide rail (22) and the straight-line guide rail slide block (21) that above can slide at line slideway slide rail (22), and straight-line guide rail slide block (21) is arranged on the second laminate (10) bottom;
Third layer mechanism comprises the 4th laminate (4), be arranged on horizontal drive electromagnet coil (35) on the 4th laminate (4) and the horizontal direction permanent magnet flange (20) corresponding with horizontal drive electromagnet coil (35); Horizontal direction permanent magnet flange (20) is arranged on horizontal direction permanent magnet flange (19) side, and horizontal direction permanent magnet flange (19) is arranged on the bottom of third layer plate (8); What horizontal direction permanent magnet flange (19) was movable be arranged on horizontal direction guide rail (36) is upper and can guide rail (36) is upper in the horizontal direction slides, and the direction of horizontal direction guide rail (36) is vertical with the direction of line slideway slide rail (22); 4th laminate (4) for Neng Yi center be that the structure horizontally rotated relative to layer 5 plate (1) is done in the center of circle;
4th layer of mechanism comprises layer 5 plate (1), mover (27) and stator (28), and mover (27) is arranged on the 4th laminate (4) bottom, and stator (28) is arranged on layer 5 plate (1).
2. six degree of freedom magnetic force according to claim 1 drives oscillatory type muscular training platform, it is characterized in that: on the second laminate (10), be provided with linear bearing (34), Hooks coupling universal coupling (16) for can do the structure moved up and down under the position-limiting action of linear bearing (34).
3. six degree of freedom magnetic force according to claim 1 drives oscillatory type muscular training platform, it is characterized in that: the stopping means being provided with the sliding distance of sensor installation pedestal (33) and straight limit guide rail slide block (21) between third layer plate (8) and the second laminate (10).
4. six degree of freedom magnetic force according to claim 1 drives oscillatory type muscular training platform, it is characterized in that: the stopping means being provided with restriction third layer plate (8) guide rail (36) displacement in the horizontal direction between third layer plate (8) and the 4th laminate (4), this stopping means comprises the flat hollow limit chamber (6) that is arranged on the 4th laminate (4) and is arranged on the solid Horizontal limiting block (7) of third layer plate (8) bottom, realizes spacing in the opening that solid Horizontal limiting block (7) puts in flat hollow limit chamber (6).
5. six degree of freedom magnetic force according to claim 1 drives oscillatory type muscular training platform, it is characterized in that: be provided with between the 4th laminate (4) with layer 5 plate (1) and intersect bearing (3).
6. six degree of freedom magnetic force according to claim 1 drives oscillatory type muscular training platform, it is characterized in that: this training platform also comprises rotary encoder (30), the axle head of this rotary encoder (30) is arranged on the centre of the 4th laminate (4), and large end is arranged in the middle of layer 5 plate (1).
7. six degree of freedom magnetic force according to claim 1 drives oscillatory type muscular training platform, it is characterized in that: the mechanism that E type silicon steel sheet (12), electromagnet coil (13), permanent magnet adpting flange (14), permanent magnet (15) and Hooks coupling universal coupling (16) form is three covers, and the form in 3 even branches is arranged between the first laminate (18) and the second laminate (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510385457.3A CN104941111B (en) | 2014-12-07 | 2015-07-06 | Six degree of freedom magnetic force drives oscillatory type muscular training platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410733145 | 2014-12-07 | ||
| CN2014107331452 | 2014-12-07 | ||
| CN201510385457.3A CN104941111B (en) | 2014-12-07 | 2015-07-06 | Six degree of freedom magnetic force drives oscillatory type muscular training platform |
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| Publication Number | Publication Date |
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| CN104941111A true CN104941111A (en) | 2015-09-30 |
| CN104941111B CN104941111B (en) | 2017-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520474058.XU Expired - Fee Related CN204767148U (en) | 2014-12-07 | 2015-07-06 | 6 -degree of freedom magnetic force actuation vibrating muscular training platform |
| CN201510385457.3A Active CN104941111B (en) | 2014-12-07 | 2015-07-06 | Six degree of freedom magnetic force drives oscillatory type muscular training platform |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520474058.XU Expired - Fee Related CN204767148U (en) | 2014-12-07 | 2015-07-06 | 6 -degree of freedom magnetic force actuation vibrating muscular training platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110022834A (en) * | 2016-09-20 | 2019-07-16 | 斯韦托扎尔·格尔比奇 | A kind of equipment for executing vibration training |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204767148U (en) * | 2014-12-07 | 2015-11-18 | 沈阳工业大学 | 6 -degree of freedom magnetic force actuation vibrating muscular training platform |
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| CN101091683A (en) * | 2007-07-23 | 2007-12-26 | 鲍俊瑶 | Electromagnetic wobbler |
| US20100248909A1 (en) * | 2009-03-30 | 2010-09-30 | Brad Thorpe | Isometric exercise apparatus and storage rack therefor |
| CN202620118U (en) * | 2012-01-14 | 2012-12-26 | 西安电子科技大学 | Rehabilitation operating system |
| CN203663333U (en) * | 2014-01-25 | 2014-06-25 | 刘兵 | Magnetic levitation exercise equipment |
| CN204767148U (en) * | 2014-12-07 | 2015-11-18 | 沈阳工业大学 | 6 -degree of freedom magnetic force actuation vibrating muscular training platform |
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2015
- 2015-07-06 CN CN201520474058.XU patent/CN204767148U/en not_active Expired - Fee Related
- 2015-07-06 CN CN201510385457.3A patent/CN104941111B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101091683A (en) * | 2007-07-23 | 2007-12-26 | 鲍俊瑶 | Electromagnetic wobbler |
| US20100248909A1 (en) * | 2009-03-30 | 2010-09-30 | Brad Thorpe | Isometric exercise apparatus and storage rack therefor |
| CN202620118U (en) * | 2012-01-14 | 2012-12-26 | 西安电子科技大学 | Rehabilitation operating system |
| CN203663333U (en) * | 2014-01-25 | 2014-06-25 | 刘兵 | Magnetic levitation exercise equipment |
| CN204767148U (en) * | 2014-12-07 | 2015-11-18 | 沈阳工业大学 | 6 -degree of freedom magnetic force actuation vibrating muscular training platform |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110022834A (en) * | 2016-09-20 | 2019-07-16 | 斯韦托扎尔·格尔比奇 | A kind of equipment for executing vibration training |
| US11478393B2 (en) | 2016-09-20 | 2022-10-25 | Svetozar Grbic | Device for vibration training |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104941111B (en) | 2017-06-09 |
| CN204767148U (en) | 2015-11-18 |
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