Joint motor-based active return device and hitting training system

Abstract

The application discloses a kind of active return device based on joint motor, hitting training system, active return device includes the shell of installation on base, joint motor, master unit in shell, joint motor is equipped with encoder, shell has rotating arm, rotating arm one end is fixedly connected with motor shaft of joint motor, and hitting target is installed at the other end of rotating arm, master unit is electrically connected with encoder, joint motor respectively, can realize the speed solution when hitting target is hit, damping rebound control, active return control;Hitting training system includes control terminal and multiple active return devices, and the control process of single hitting training mode and multiple hitting training mode can be realized.The application can be actively controlled and returned, and the speed when hitting target is hit can be solved.

Description

Technical Field

[0001] This invention relates to the field of striking training equipment, specifically an active return device and striking training system based on a joint motor. Background Technology

[0002] In training for striking sports, return-to-position training devices (such as spring-loaded tennis ball return devices and punching bags) are widely used. Traditional return-to-position training devices mostly use passive return methods such as springs, rubber bands, or gravity. These devices have the following drawbacks: First, the return angle is fixed, making it impossible to precisely control the return angle according to training needs; second, their functions are limited, only providing simple rebound exercises, lacking measurement of ball speed, recording of training data, and interactive feedback; third, the training mode is monotonous, mostly involving repetitive hitting, making it difficult to maintain the trainee's interest in the long term; fourth, the damping force is fixed, making it impossible to simulate the rebound feel of different forces; fifth, existing devices are bulky and inconvenient to move, and most use built-in batteries, limiting battery life. In addition, although some intelligent boxing training devices have emerged in the current technology, they mainly focus on data collection, with less attention paid to the active control of the return mechanism and multi-terminal fun and collaborative training. Summary of the Invention

[0003] This invention provides an active return device and a striking training system based on a joint motor, to solve the problems of existing return trainers, such as the inability to control the return angle and rebound damping, the inability to measure speed data, and the limited training modes.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] An active return device based on a joint motor, comprising:

[0006] The housing, which is mounted on the base;

[0007] The joint motor is installed inside the housing and is equipped with an encoder to detect the rotation angle of the rotor during joint shutdown.

[0008] A rotating arm is located outside the housing. One end of the rotating arm is fixedly connected to the motor shaft of the joint motor via a connector, and a striking target is installed at the other end of the rotating arm. When the striking target is struck, the rotating arm rotates, thereby driving the rotor of the joint motor to rotate synchronously. When the joint motor outputs torque, it can change the rotational motion state of the rotating arm and the striking target as a whole.

[0009] The main control unit is located inside the housing and is electrically connected to the encoder and the joint motor. The main control unit receives the rotation angle data detected by the encoder and sends control commands to the joint motor. The main control unit calculates the speed based on the rotation angle data of the encoder and controls the joint motor to achieve damping rebound control and active return control when hitting the target.

[0010] Furthermore, the height of the housing on the base is adjustable.

[0011] Furthermore, a lockable pulley is installed at the bottom of the base.

[0012] Furthermore, the striking target is a sphere, which is mounted on the other end of the rotating arm and is capable of rotation.

[0013] Furthermore, the main control unit includes a microcontroller and a motor drive circuit. The signal input terminal of the microcontroller is connected to the encoder, the signal output terminal of the microcontroller is connected to the input terminal of the motor drive circuit, and the output terminal of the motor drive circuit is connected to the joint motor.

[0014] Furthermore, the main control unit also includes a wireless communication module, which is connected to the communication terminal of the microcontroller.

[0015] Furthermore, it also includes an audio-visual prompt module located in the housing, and the main control unit is electrically connected to the audio-visual prompt module.

[0016] A striking training system includes multiple active return devices based on articulated motors, as described above, and a control terminal. The control terminal sends control commands to a main control unit in any one of the active return devices, and the main control unit implements the control process of a single-target striking training mode based on the control commands sent by the control terminal; or the control terminal sends control commands to the main control units in multiple active return devices, and the main control units in each active return device cooperate to implement the control process of a multi-target striking training mode based on the control commands sent by the control terminal.

[0017] Furthermore, the control process of the single-target striking training mode is as follows:

[0018] Taking one of the active return devices as the target active return device, the control terminal sends control commands to the main control unit in the target active return device, including damping coefficient control commands and return angle control commands; the main control unit in the target active return device calculates the target damping torque of the joint motor based on the damping coefficient control commands, and calculates the target return torque of the joint motor based on the return angle control commands;

[0019] When the target in the active target return device is struck, the encoder detects a rotation angle. The main control unit then controls the joint motor to output the target damping torque in the opposite direction to the rotation direction of the rotating arm, to simulate the damping rebound of the target, thereby achieving resistance rebound control. Furthermore, based on the rotation angle detected by the encoder, the main control unit obtains the maximum angular velocity at the moment of impact, and combines it with the rotation radius of the rotating arm to calculate the linear velocity of the rotating arm as the speed at which the target is struck.

[0020] After the target is hit, the main control unit controls the joint motor to output the target return torque in the opposite direction to the rotation direction of the rotating arm based on the return angle control command, so that the target actively returns to the corresponding return angle, thereby realizing active return control.

[0021] Furthermore, the control process of the multi-target striking training mode is a sequential control process, which is as follows:

[0022] Multiple active return devices are used as target active return devices. The control terminal sends control commands to each target active return device in a set order, including audio-visual prompt control commands, damping coefficient control commands, and return angle control commands.

[0023] When each target active return device receives a control command, the corresponding main control unit calculates the target damping torque of the joint motor based on the damping coefficient control command, and calculates the target return torque of the joint motor based on the return angle control command. The corresponding main control unit then controls the sound and light prompt module to provide a striking prompt.

[0024] When the target in each active return device is struck, the corresponding encoder detects a rotation angle. The corresponding main control unit then controls the joint motor to output the target damping torque in the opposite direction to the rotation direction of the rotating arm, in order to simulate the damping rebound of the target and thus achieve resistance rebound control. Furthermore, based on the rotation angle detected by the encoder, the corresponding main control unit obtains the maximum angular velocity at the moment of impact and, combined with the rotation radius of the rotating arm, calculates the linear velocity of the rotating arm as the speed at which the target is struck.

[0025] After the target in each active return device is struck, the corresponding main control unit controls the joint motor to output the target return torque in the opposite direction to the rotation direction of the rotating arm based on the return angle control command, so that the target actively returns to the corresponding return angle, thereby realizing active return control.

[0026] Furthermore, the control process of the multi-target striking training mode is a random control process, which is as follows:

[0027] Multiple active return devices are used as target active return devices. The control terminal randomly selects one of the target active return devices and sends control commands, including audio-visual prompt control commands, damping coefficient control commands, and return angle control commands.

[0028] When the selected target active return device receives the control command, the corresponding main control unit calculates the target damping torque of the joint motor based on the damping coefficient control command, and calculates the target return torque of the joint motor based on the return angle control command, and the corresponding main control unit controls the sound and light prompt module to provide a striking prompt.

[0029] When the target in the selected target active return device is struck, the corresponding encoder detects a rotation angle. The corresponding main control unit then controls the joint motor to output the target damping torque in the opposite direction to the rotation direction of the rotating arm, in order to simulate the damping rebound of the target and thus achieve resistance rebound control. Furthermore, based on the rotation angle detected by the encoder, the corresponding main control unit obtains the maximum angular velocity at the moment of impact and, combined with the rotation radius of the rotating arm, calculates the linear velocity of the rotating arm as the speed at which the target is struck.

[0030] After the target in the selected target active return device is hit, the corresponding main control unit controls the joint motor to output the target return torque in the opposite direction to the rotation direction of the rotating arm based on the return angle control command, so that the target actively returns to the corresponding return angle, thereby realizing active return control.

[0031] Repeat the above process to achieve stochastic control.

[0032] Compared with the prior art, the advantages of the present invention are:

[0033] 1. Active and controllable return: Through the control of the joint motor by the main control unit, active and controllable return can be achieved, which solves the problem of uncontrollable return angle of traditional springs and can accurately simulate a variety of ball hitting scenarios.

[0034] 2. Intelligent interactive experience: It integrates wireless communication modules such as Bluetooth modules, and can achieve dual system compatibility through mini-programs. It has functions such as ball speed measurement, training plan creation, audio and visual prompts and Bluetooth headset broadcast, and training data visualization.

[0035] 3. Adjustable damping and rebound: The main control unit controls the joint motor, which can be used to adjust the simulated damping and rebound during striking training.

[0036] 4. Multi-mode fun training: Multiple modes such as adjustable damping, sequential collaboration, and random collaboration are designed to combine fun with professionalism and improve user engagement.

[0037] 5. Compact structure and portable: The whole machine is lightweight and has a lockable bottom caster design for easy movement and fixation; it can be powered by an external power bank for worry-free battery life. Attached Figure Description

[0038] Figure 1 This is an exploded view of the overall structure of an embodiment of the present invention.

[0039] Figure 2 This is a schematic diagram of the assembly structure according to an embodiment of the present invention.

[0040] The markings in the diagram are: 1. Target, 2. Rotating arm, 3. Fixed flange, 4. Support column, 5. Sound and light prompt module, 6. Joint motor, 7. Aluminum alloy back cover, 8. Main control unit, 9. Aluminum alloy middle frame, 10. Base, 11. Lockable pulley. Detailed Implementation

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0042] Example 1

[0043] like Figure 1 As shown, this embodiment discloses an active return device based on a joint motor, including a base, a housing, a joint motor 6, a rotating arm 2, a striking target 1, a main control unit 8, and an audio-visual prompt module 5.

[0044] The base includes a base 10 and a support column 4. The base 10 is a metal casting with a threaded hole in its center. The support column 4 is a metal tube with threaded sections at both its upper and lower ends. The lower end of the support column 4 is screwed through the threaded hole in the base 10 and locked with a nut. Loosening the nut and rotating the support column 4 changes the depth to which the support column 4 is inserted into the base 10, thus adjusting the height of the upper end of the support column 4. Alternatively, the base 10 has a clear hole in its center, and the lower end of the support column 4 has multiple pin holes along its height. The lower end of the support column 4 is installed in the clear hole of the base 10, and a pin is inserted into the side of the base 10. This pin passes through the clear hole of the base 10 and is pinned into one of the pin holes at the lower end of the support column 4. When the pin is pulled out, the depth to which the support column 4 is inserted into the base 10 can be changed as needed, and then the pin can be inserted again, thus adjusting the height of the upper end of the support column 4.

[0045] The bottom of the base 10 is equipped with multiple lockable pulleys 11 by screws. Each lockable pulley 11 is equipped with a locking tab. Pressing down the tab can lock the pulley, and lifting the tab can release the pulley. When the pulley is released, the base 10 and the support column 4 can move freely as a whole.

[0046] The housing comprises an aluminum alloy mid-frame 9 and an aluminum alloy rear cover 7. The aluminum alloy mid-frame 9, CNC machined from aluminum alloy, serves as the skeleton of the entire device. The interior of the aluminum alloy mid-frame 9 houses the motor mounting position and circuit board slot, while the exterior features the mounting position for the audio-visual module. The aluminum alloy rear cover 7, also CNC machined, is fixedly connected to the rear opening edge of the aluminum alloy mid-frame 9 with screws, forming a sealed electrical chamber. The bottom of the aluminum alloy mid-frame 9 has threaded holes, into which the upper end of the support column 4 is screwed and fixed. When the height of the upper end of the support column 4 changes, the overall height of the housing changes accordingly, thus achieving height adjustment of the housing on the base.

[0047] The rotating arm 2 is a bent tube structure, formed by bending aluminum alloy or stainless steel tubing. The rotating arm 2 is located outside the housing. One end of the rotating arm 2 is welded to the center of a fixed flange 3 or fixedly connected by threads. This fixed flange 3 serves as a connector for connecting to the motor shaft of the articulated motor 6. A circular hole is provided at the front of the aluminum alloy frame 9 in the housing, and the fixed flange 3 is rotatably installed in this hole. The other end of the rotating arm 2 has a connecting hole into which a hollow shaft is inserted. After insertion, the hollow shaft is locked in place in the connecting hole by radial screws.

[0048] The striking target 1 is used for the trainee to strike. In this embodiment, the striking target 1 is a ball. A central through hole is drilled in the ball, and the ball is fitted onto the hollow shaft at the other end of the rotating arm 2 through the central through hole. This allows the ball to be mounted on the other end of the rotating arm 2, and the ball can rotate around the hollow shaft as the center of rotation.

[0049] The articulated motor 6 is a servo motor that integrates a high-precision encoder, which is used to detect the rotation angle of the rotor in the servo motor. The articulated motor 6 is installed in the motor mounting position inside the aluminum alloy frame 9 of the housing. The motor shaft of the articulated motor 6 is concentrically and fixedly connected to the fixed flange 3. Thus, when the motor shaft of the articulated motor 6 outputs torque, it can drive the rotating arm 2 and the striking target 1 to change their rotational motion state in the vertical plane through the fixed flange 3.

[0050] The sound and light prompt module 5 includes a hemispherical LED light and a buzzer, and the sound and light module is embedded in the top side of the aluminum alloy frame 9.

[0051] The main control unit 8 includes a circuit board that integrates an STM32 series microcontroller, a motor drive circuit, a wireless communication module, and an audio-visual drive circuit. The wireless communication module uses a Bluetooth module (model HC-42), and the main control unit 8 interacts with external systems via this module. The circuit board is mounted in a circuit board slot inside the aluminum alloy frame 9. The microcontroller is electrically connected to the encoder in the articulated motor 6 via a CAN bus, to the articulated motor 6 via the motor drive circuit, and to the audio-visual prompt module 5 via the audio-visual drive circuit. The wireless communication module is also electrically connected to the microcontroller.

[0052] In this embodiment, an external mobile power supply is used. A power interface is provided on the aluminum alloy frame 9 to supply power to the entire device. Users can choose mobile power supplies of different capacities according to the training time.

[0053] In this embodiment, the microcontroller of the main control unit can calculate the speed based on the rotation angle data of the encoder, and the main control unit can control the joint motor to achieve damping rebound control and active return control when hitting the target.

[0054] The principle of velocity calculation is as follows:

[0055] When the trainee hits target 1, the encoder detects a rotation angle, the main control unit 8 receives the rotation angle data, and the rotating arm 2 drives the rotor of the joint motor 6 to accelerate instantaneously. The main control unit 8 reads the rotation angle data detected by the encoder built into the joint motor 6 and obtains the maximum angular velocity ω (unit: rad / s) at the moment of impact through differential calculation. The rotation radius R of the rotating arm 2 (i.e., the straight-line distance from the motor shaft to the center of the tennis ball) is a known fixed structural parameter (R=0.5m in this embodiment). The main control unit 8 calculates the velocity v (unit: km / h) of the target 1 when it is hit in real time according to the linear velocity formula v=ω×R. The velocity v of the target 1 when it is hit calculated by the main control unit 8 is transmitted outward through the wireless communication module.

[0056] The damping rebound control principle is as follows:

[0057] The main control unit 8 receives the damping coefficient control command transmitted from the outside via the wireless communication module and calculates the target damping torque of the joint motor 6. The calculation process is as follows:

[0058] A speed proportional feedback control law is adopted. When the target 1 is hit, causing the rotating arm 2 to rotate, the encoder built into the joint motor 6 detects the instantaneous angular velocity ω(t) of the rotating arm in real time. The main control unit 8 reads this angular velocity data and calculates the target damping torque according to the preset damping coefficient control command using the following formula:

[0059]

[0060] Where: τd is the target damping torque (Nm), which is opposite to the rotation direction of the rotating arm; Kd is the damping coefficient set by the user (range 0~1); Bref is the system preset reference damping coefficient (Nm·s / rad), which is calibrated at the factory according to the rated parameters of the joint motor 6 and the mechanical characteristics of the rotating arm 2, and represents the maximum damping capacity of the system under 100% damping coefficient; ω(t) is the angular velocity of the rotating arm detected by the encoder in real time.

[0061] When the target 1 is hit, the encoder detects the rotation angle and the main control unit 8 receives the rotation angle data. At this time, the main control unit 8 can know that the target 1 has been hit. Then, the main control unit 8 controls the joint motor 6 to output the target damping torque in the opposite direction to the rotation direction of the rotating arm 2, so as to simulate the damping rebound of the target 1, thereby realizing the resistance rebound control.

[0062] The principle of active return control is as follows:

[0063] The main control unit 8 receives the return angle control command transmitted from the outside via the wireless communication module and calculates the target return torque of the joint motor. The calculation process is as follows:

[0064] The return angle control command is a target return angle value θref (degrees or radians) set by the user through a mobile terminal application, along with a return speed parameter. This command represents the preset position that the user expects the rotating arm 2 to return to after impact.

[0065] The calculation of the target return torque τp is based on the position-velocity dual closed-loop proportional-integral-derivative (PID) control algorithm or the active disturbance rejection control (ADRC) algorithm in the field of servo control. Both are existing mature technologies for motor position control. Taking the widely used PID control as an example, the process is as follows:

[0066] First, the main control unit 8 reads the current rotating arm angle θ(t) and angular velocity ω(t) from the real-time feedback of the encoder built into the joint motor 6. Then, it calculates the position deviation e(t):

[0067]

[0068] in, Use the target as a reference angle.

[0069] The microcontroller built into the main control unit 8 executes a position loop PID control algorithm to generate the target retrace torque τp.

[0070]

[0071] Where: Kp is the proportional gain coefficient, which determines the system's response strength to position deviation; Ki is the integral gain coefficient, used to eliminate steady-state error; Kd is the differential gain coefficient, which provides damping to suppress overshoot and oscillation; e(t) is the real-time position deviation; de(t) / dt is the rate of change of position deviation, which can be approximately calculated through encoder speed feedback.

[0072] When the target 1 is hit, the main control unit 8 controls the joint motor 6 to output the target return torque in the opposite direction to the rotation direction of the rotating arm 2, so that the target 1 actively returns to the corresponding return angle, thereby realizing active return control.

[0073] Example 2

[0074] This embodiment discloses a striking training system, including multiple active return devices based on joint motors as described in Embodiment 1, and a control terminal.

[0075] In this embodiment, the control terminal is a mobile terminal APP program. The trainee can set a training plan through the APP program, and set a single-target striking training mode, a multi-target striking training mode and corresponding control commands in the training plan. The control commands set by the control terminal are wirelessly transmitted to the main control unit 8 of the active return device, thereby realizing the control process of the single-target striking training mode or the control process of the multi-target striking training mode.

[0076] In this embodiment, the control process for the single-target striking training mode is as follows:

[0077] Taking one of the active return devices as the target active return device, the control terminal sends control commands to the main control unit in the target active return device, including damping coefficient control commands and return angle control commands; the main control unit in the target active return device calculates the target damping torque of the joint motor based on the damping coefficient control commands, and calculates the target return torque of the joint motor based on the return angle control commands.

[0078] When the target in the active target return device is struck, the encoder detects a rotation angle. The main control unit then controls the joint motor to output a target damping torque in the opposite direction to the rotation direction of the rotating arm, simulating the damping rebound of the target and thus achieving resistance rebound control. Furthermore, based on the rotation angle detected by the encoder, the main control unit obtains the maximum angular velocity at the moment of impact and, combined with the rotation radius of the rotating arm, calculates the linear velocity of the rotating arm as the speed at which the target is struck.

[0079] After the target is hit, the main control unit controls the joint motor to output the target return torque in the opposite direction to the rotation direction of the rotating arm based on the return angle control command, so that the target actively returns to the corresponding return angle, thereby realizing active return control.

[0080] In this embodiment, the control process of the multi-target striking training mode includes a sequential control process and a random control process.

[0081] The sequence control process is as follows:

[0082] Multiple active return devices are used as target active return devices. The control terminal sends control commands to each target active return device in a set order, including audible and visual prompt control commands, damping coefficient control commands, and return angle control commands.

[0083] When each target active return device receives a control command, the corresponding main control unit calculates the target damping torque of the joint motor based on the damping coefficient control command, and calculates the target return torque of the joint motor based on the return angle control command. The corresponding main control unit then controls the audio-visual prompt module to provide a striking prompt.

[0084] When the target in each active return device is struck, the corresponding encoder detects a rotation angle. The corresponding main control unit then controls the joint motor to output the target damping torque in the opposite direction to the rotation direction of the rotating arm, in order to simulate the damping rebound of the target and thus achieve resistance rebound control. Furthermore, based on the rotation angle detected by the encoder, the corresponding main control unit obtains the maximum angular velocity at the moment of impact and, combined with the rotation radius of the rotating arm, calculates the linear velocity of the rotating arm as the speed at which the target is struck.

[0085] After the target in each active return device is struck, the corresponding main control unit controls the joint motor to output the target return torque in the opposite direction to the rotation direction of the rotating arm based on the return angle control command, so that the target actively returns to the corresponding return angle, thereby realizing active return control.

[0086] The random control process is as follows:

[0087] Multiple active return devices are used as target active return devices. The control terminal randomly selects one of the target active return devices and sends control commands, including audio-visual prompt control commands, damping coefficient control commands, and return angle control commands.

[0088] When the selected target active return device receives the control command, the corresponding main control unit calculates the target damping torque of the joint motor based on the damping coefficient control command, and calculates the target return torque of the joint motor based on the return angle control command. The corresponding main control unit then controls the sound and light prompt module to provide a striking prompt.

[0089] When the target in the selected target active return device is struck, the corresponding encoder detects a rotation angle. The corresponding main control unit then controls the joint motor to output the target damping torque in the opposite direction to the rotation direction of the rotating arm, in order to simulate the damping rebound of the target and thus achieve resistance rebound control. Furthermore, based on the rotation angle detected by the encoder, the corresponding main control unit obtains the maximum angular velocity at the moment of impact and, combined with the rotation radius of the rotating arm, calculates the linear velocity of the rotating arm as the speed at which the target is struck.

[0090] After the target in the selected target active return device is hit, the corresponding main control unit controls the joint motor to output the target return torque in the opposite direction to the rotation direction of the rotating arm based on the return angle control command, so that the target actively returns to the corresponding return angle, thereby realizing active return control.

[0091] Repeat the above process to achieve stochastic control.

[0092] In this embodiment, after training is completed, all generated training data is transmitted by the main control unit to the APP program on the mobile terminal, and finally synchronized to the cloud to form a long-term training archive.

[0093] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. These embodiments are merely descriptions of preferred embodiments and are not intended to limit the scope or concept of the invention. The specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. Such combinations, as long as they do not violate the spirit of the present invention, should also be considered as part of this disclosure. To avoid unnecessary repetition, the present invention will not further describe the various possible combinations.

[0094] This invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this invention and without departing from the design idea of ​​this invention, all modifications and improvements made by those skilled in the art to the technical solutions of this invention should fall within the protection scope of this invention. The technical content for which protection is sought in this invention has been fully described in the claims.

Claims

1. An active return device based on a joint motor, characterized in that, include: The housing, which is mounted on the base; The joint motor is installed inside the housing and is equipped with an encoder to detect the rotation angle of the rotor during joint shutdown. A rotating arm is located outside the housing. One end of the rotating arm is fixedly connected to the motor shaft of the joint motor via a connector, and a striking target is installed at the other end of the rotating arm. When the striking target is struck, the rotating arm rotates, thereby driving the rotor of the joint motor to rotate synchronously. When the joint motor outputs torque, it can change the rotational motion state of the rotating arm and the striking target as a whole. The main control unit is located inside the housing and is electrically connected to the encoder and the joint motor. The main control unit receives the rotation angle data detected by the encoder and sends control commands to the joint motor. The main control unit calculates the speed of the target being hit based on the rotation angle data of the encoder, and controls the joint motor to achieve damping rebound control and active return control of the target.

2. The active return device based on a joint motor according to claim 1, characterized in that, The height of the housing on the base is adjustable, and the bottom of the base is equipped with lockable pulleys.

3. The active return device based on a joint motor according to claim 1, characterized in that, The target being struck is a sphere, which is mounted on the other end of the rotating arm and is capable of rotation.

4. The active return device based on a joint motor according to claim 1, characterized in that, The main control unit includes a microcontroller and a motor drive circuit. The signal input terminal of the microcontroller is connected to the encoder, the signal output terminal of the microcontroller is connected to the input terminal of the motor drive circuit, and the output terminal of the motor drive circuit is connected to the articulated motor.

5. The active return device based on a joint motor according to claim 4, characterized in that, The main control unit also includes a wireless communication module, which is connected to the communication terminal of the microcontroller.

6. The active return device based on a joint motor according to claim 1, characterized in that, It also includes an audio-visual prompt module located in the housing, and the main control unit is electrically connected to the audio-visual prompt module.

7. A striking training system, characterized in that, The device includes multiple active return devices based on articulated motors as described in any one of claims 1-6, and a control terminal; the control terminal sends control commands to the main control unit in any one of the active return devices, and the main control unit implements the control process of the single-target striking training mode based on the control commands sent by the control terminal; or the control terminal sends control commands to the main control units in multiple active return devices, and the main control units in each active return device cooperate to implement the control process of the multi-target striking training mode based on the control commands sent by the control terminal.

8. A striking training system according to claim 7, characterized in that, The control process for the single-target striking training mode is as follows: Taking one of the active return devices as the target active return device, the control terminal sends control commands to the main control unit in the target active return device, including damping coefficient control commands and return angle control commands. The main control unit in the target active return device calculates the target damping torque of the joint motor based on the damping coefficient control command, and calculates the target return torque of the joint motor based on the return angle control command. When the target in the active target return device is struck, the encoder detects a rotation angle. The main control unit then controls the joint motor to output the target damping torque in the opposite direction to the rotation direction of the rotating arm, to simulate the damping rebound of the target, thereby achieving resistance rebound control. Furthermore, based on the rotation angle detected by the encoder, the main control unit obtains the maximum angular velocity at the moment of impact, and combines it with the rotation radius of the rotating arm to calculate the linear velocity of the rotating arm as the speed at which the target is struck. After the target is hit, the main control unit controls the joint motor to output the target return torque in the opposite direction to the rotation direction of the rotating arm based on the return angle control command, so that the target actively returns to the corresponding return angle, thereby realizing active return control.

9. A striking training system according to claim 7, characterized in that, The control process of the multi-target striking training mode is a sequential control process, which is as follows: Multiple active return devices are used as target active return devices. The control terminal sends control commands to each target active return device in a set order, including audio-visual prompt control commands, damping coefficient control commands, and return angle control commands. When each target active return device receives a control command, the corresponding main control unit calculates the target damping torque of the joint motor based on the damping coefficient control command, and calculates the target return torque of the joint motor based on the return angle control command. The corresponding main control unit then controls the sound and light prompt module to provide a striking prompt. When the target in each active return device is struck, the corresponding encoder detects a rotation angle. The corresponding main control unit then controls the joint motor to output the target damping torque in the opposite direction to the rotation direction of the rotating arm, in order to simulate the damping rebound of the target and thus achieve resistance rebound control. Furthermore, based on the rotation angle detected by the encoder, the corresponding main control unit obtains the maximum angular velocity at the moment of impact and, combined with the rotation radius of the rotating arm, calculates the linear velocity of the rotating arm as the speed at which the target is struck. After the target in each active return device is struck, the corresponding main control unit controls the joint motor to output the target return torque in the opposite direction to the rotation direction of the rotating arm based on the return angle control command, so that the target actively returns to the corresponding return angle, thereby realizing active return control.

10. A striking training system according to claim 7, characterized in that, The control process of the multi-target striking training mode is a random control process, which is as follows: Multiple active return devices are used as target active return devices. The control terminal randomly selects one of the target active return devices and sends control commands, including audio-visual prompt control commands, damping coefficient control commands, and return angle control commands. When the selected target active return device receives the control command, the corresponding main control unit calculates the target damping torque of the joint motor based on the damping coefficient control command, and calculates the target return torque of the joint motor based on the return angle control command, and the corresponding main control unit controls the sound and light prompt module to provide a striking prompt. When the target in the selected target active return device is struck, the corresponding encoder detects a rotation angle. The corresponding main control unit then controls the joint motor to output the target damping torque in the opposite direction to the rotation direction of the rotating arm, in order to simulate the damping rebound of the target and thus achieve resistance rebound control. Furthermore, based on the rotation angle detected by the encoder, the corresponding main control unit obtains the maximum angular velocity at the moment of impact and, combined with the rotation radius of the rotating arm, calculates the linear velocity of the rotating arm as the speed at which the target is struck. After the target in the selected target active return device is hit, the corresponding main control unit controls the joint motor to output the target return torque in the opposite direction to the rotation direction of the rotating arm based on the return angle control command, so that the target actively returns to the corresponding return angle, thereby realizing active return control. Repeat the above process to achieve stochastic control.

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