A wrapping tension control method of an amorphous alloy roll core binding machine

Abstract

The application discloses a wrapping tension control method of an amorphous alloy roll core binding machine. The binding machine comprises a rack, a lifting motor arranged on the rack, a measuring table connected with the lifting motor, a driver and a guider arranged on the measuring table, and a rotating ring matched with the driver and the guider. The rotating ring comprises a fixed ring and a separation ring. A laser ranging sensor, a film feeding device and a tension sensor are arranged on the fixed ring. The driver comprises a servo motor and an angle encoder. Through reasonable step sequence, a dynamic compensation model and a linkage mechanism, three problems of signal noise, roll diameter change and uneven lifting in the prior art are solved, and full-cycle constant tension and uniform coverage are realized.

Description

Technical Field

[0001] This invention relates to an adaptive tension and lifting coordinated control system for a winding machine. Background Technology

[0002] Amorphous alloy materials are widely used in high-efficiency and energy-saving distribution transformers due to their excellent magnetic properties, especially their extremely low no-load loss. Unlike traditional silicon steel sheet cores, amorphous alloy strips have extremely high hardness and are difficult to cut and process. Therefore, the cores are usually manufactured by winding, resulting in amorphous alloy cores typically having a three-dimensional wound core structure with a special cross-sectional shape, generally a rounded triangle or D-shaped structure. While this structure improves space utilization and magnetic circuit symmetry, it also presents significant challenges to subsequent processing techniques, especially the final insulating film wrapping process.

[0003] In existing insulating film wrapping technology, the wrapping machine typically includes a rotating spindle for holding an iron core, an annular film feeding frame that rotates synchronously with the spindle, and a film roll mounted on the feeding frame. During operation, the iron core rotates with the spindle, and the film feeding frame rotates synchronously, spirally or circumferentially winding the film onto the surface of the iron core. However, existing wrapping equipment has significant technical deficiencies in its control strategy.

[0004] The applicant filed a utility model patent application on August 18, 2022, with patent number "CN202222168981.3" and patent name "A Fully Automatic Strapping Machine for Triangular Iron Cores". The aforementioned patent discloses a technical solution for automatically strapping and binding iron cores. However, in this technical solution, the tension cannot be adjusted during the binding and wrapping process, which leads to various problems.

[0005] Firstly, the cross-section of the three-dimensional coiled core is not a standard circle, but an approximate triangle composed of three circular arcs and a straight line. When the core rotates around its central axis, the distance from the contact point between the film and the core surface to the center of rotation changes continuously with the rotation angle. In traditional constant-speed wrapping mode, the speed of the film-laying motor is usually constant, or simply proportional to the spindle speed. However, due to the instantaneous change in the radius of rotation, the linear velocity of the core surface changes constantly. When the wrapping point is located in the "circular arc segment" of the core cross-section, the radius of rotation is larger, and the surface linear velocity is faster; when the wrapping point is located in the "straight line segment," the radius of rotation is smaller, and the surface linear velocity is slower. If the film-laying speed is constant, when the core is in the high-speed region of the "circular arc segment," the film-laying speed cannot keep up with the surface linear velocity, causing the film to be forcibly stretched, resulting in a sudden surge in tension, which can easily break the fragile amorphous ribbon or cause the film to fracture. Conversely, when the iron core is in the low-speed zone of the "straight section", the film release speed is greater than the surface linear speed. The excess film cannot be consumed in time, which will cause the film to loosen, wrinkle, or even form bubbles on the surface of the iron core, seriously affecting the insulation quality.

[0006] Secondly, the thickness of amorphous alloy strips is typically only 0.02mm-0.03mm, much thinner than silicon steel sheets, only about one-tenth the thickness, and the material is extremely brittle with low tensile strength. During the wrapping process, the tension of the film is directly transmitted to the interlayer of the amorphous strip. Excessive tension can cause microscopic plastic deformation or even breakage of the amorphous strip, which will destroy the amorphous structure, leading to a sharp increase in iron loss and magnetostrictive noise. Insufficient tension will result in loose film wrapping, and the electromagnetic force during transformer operation will cause friction between the film and the amorphous strip, generating dust, which may lead to insulation failure over long-term operation.

[0007] To address this, the applicant has made technical improvements to the utility model patent with patent number "CN202222168981.3" and patent name "A Fully Automatic Strapping Machine for Triangular Iron Cores", using a new wrapping tension control method to circumvent the aforementioned technical problems. Summary of the Invention

[0008] This invention addresses the shortcomings of existing technologies by providing a method for controlling the wrapping tension of amorphous alloy coiled cores. This application solves the three major problems of signal noise, coil diameter variation, and uneven lifting in existing technologies through a reasonable step sequence, dynamic compensation model, and linkage mechanism, thereby achieving constant tension and uniform coverage throughout the entire cycle.

[0009] To solve the above-mentioned technical problems, the present invention provides a method for controlling the wrapping tension of an amorphous alloy coiled iron core binding machine. The machine uses a planetary-type binding machine with a distance measurement function, and includes the following steps: Step A: After the workpiece is placed in position, the controller controls the rotating ring to rotate around the workpiece, starting the film wrapping process. Simultaneously, real-time laser distance measurement is performed on the workpiece, and a first-order low-pass filtering algorithm is used for noise reduction to obtain the filtered distance value; Step B: Based on the distance value and the laser sensor position, the controller calculates the real-time contour radius of the workpiece at the current angle; Step C: The controller adjusts the workpiece tension according to the number of wrapped layers and the film thickness. Step D: The controller calculates the required theoretical film feeding linear speed based on the rotation ring angular velocity and the effective workpiece radius. Step E: The controller calculates the length of film used in real time and the current diameter of the film roll. Step F: The controller reads the feedback value from the tension sensor, compares it with the preset tension, and then calculates the linear speed fine-tuning amount. Step G: The controller superimposes the theoretical film feeding linear speed with the fine-tuning amount to obtain the final linear speed command and converts it into the rotational speed of the film feeding device. Step H: The controller calculates the lifting speed of the lifting shaft motor based on the target overlap rate, rotation ring angular velocity, and workpiece radius at the current height, and then outputs the result.

[0010] In the above technical solution, preferably, the first-order low-pass filter formula in step A is: ;in, The distance value after filtering is the k-th sample. This represents the original laser ranging value from the kth sample, where k is the sampling number. These are the first-order low-pass filter coefficients. The value ranges from 0.1 to 0.3.

[0011] In the above technical solution, preferably, the formula for calculating the real-time contour radius of the workpiece in step B is: ;in, The fixed distance between the laser sensor mounting point and the center of the rotating ring. The current angle of the rotating ring. For the workpiece at an angle The original contour radius at that location. For angle The distance value after filtering.

[0012] In the above technical solution, preferably, the formula for calculating the effective radius of the workpiece in step C is: ;in The number of winding layers is obtained by accumulating the rotation angle of the rotating ring, dividing by 2π and rounding down. The physical thickness of the thin film. Considering the effective radius of the workpiece after thickness accumulation; In the above technical solution, preferably, the film length calculation formula used in step E is: ;in This represents the total length of the film used from the start of winding to the current moment. For real-time film delivery line speed, To control the sampling period, the formula for calculating the current diameter of the film roll is: ;in This is the initial diameter of the film roll. The final film feeding motor speed command in step G is: ;in, , The angular velocity of the rotating ring's revolution. Current real-time diameter of the film roll. This is the fine-tuning amount of the linear velocity output by the PID controller.

[0013] In the above technical solution, preferably, the lifting shaft control in step H includes: target pitch calculation: , For the film width, Target overlap rate; Calculation of foundation lifting speed: Contour adaptive correction: ,in Let z be the radius of the workpiece at the current lifting height. Use the reference radius as the final output. .

[0014] An amorphous alloy coil core binding machine includes a frame, on which a lifting motor is mounted. The lifting motor is connected to a measuring platform, on which a driver and a guide are mounted, as well as a rotating ring that cooperates with the driver and the guide. The rotating ring includes a fixed ring and a separating ring. The fixed ring is equipped with a laser rangefinder, a film feeding device, and a tension sensor. The driver includes a servo motor and an angle encoder, and also includes a controller.

[0015] In the above technical solution, the preferred fixing ring further includes a power supply, a wireless transmission module, and a charging interface.

[0016] In the above technical solution, preferably, the separating ring is provided with a power supply, a wireless transmission module and a charging interface, and the fixed ring and the separating ring are electrically connected.

[0017] This application discloses a wrapping tension control method based on a planetary revolution winding machine. First, the laser ranging signal is subjected to a first-order low-pass filter, and then the real-time contour radius of the workpiece is calculated. The effective radius of the workpiece is obtained based on cumulative compensation of the film thickness, and the theoretical film feeding linear speed is calculated. Simultaneously, the length of the used film is calculated through integration, and the film roll diameter is updated in real time. Tension PID fine-tuning is superimposed with feedforward and converted into a motor speed command. The lifting shaft is linked to the target overlap rate and the rotation ring speed, and adaptively corrected according to the workpiece contour, outputting the result through S-shaped acceleration and deceleration planning. This invention solves the problems of signal noise, double-end roll diameter variation, and uneven lifting coverage under a revolution structure, achieving high-precision constant tension and constant overlap rate winding.

[0018] This application uses a first-order low-pass filter with a filter coefficient ranging from 0.1 to 0.3, which can effectively filter out high-frequency vibration noise when the rotating ring rotates at high speed, while retaining the effective signal of the workpiece contour. The repeatability error of the radius measurement after filtering is only ±0.5mm, the film feeding speed command no longer jitters at high frequency, and the motor current fluctuation is reduced by about 60%.

[0019] This application utilizes real-time accumulation of the effective workpiece radius and dynamic calculation of the unwinding roll diameter, combined with PID closed-loop fine-tuning, to control tension fluctuations within ±5% throughout the entire winding cycle. Compared to traditional uncompensated winding, the film breakage rate is reduced from 8% to below 0.2%.

[0020] This application also establishes a geometric linkage model between the lifting speed and the rotation ring speed based on the target pitch, and introduces contour adaptive correction for irregularly shaped workpieces. Within the entire height range, the actual overlap rate deviation does not exceed ±3 percentage points. For irregularly shaped workpieces such as squares and cones, there are no missing pieces or accumulations at the rounded corners or diameter changes.

[0021] The method described in this application is simple to use. It only requires the addition of an extra laser rangefinder, controller, angle encoder, and wireless transmission module to an existing strapping machine, and the modification cost is low. For example, the amorphous alloy coiled iron core strapping machine disclosed in this application is based on the structure of the applicant's original utility model "A Triangular Iron Core Fully Automatic Strapping Machine" (CN202222168981.3) with the above device installed.

[0022] Compared with existing technologies, this invention has the following technical features: First, it provides precise noise reduction by placing the filtering step before radius calculation, eliminating the interference of rotational vibration on all subsequent stages. Second, it ensures constant tension by combining dual-end dynamic compensation with PID closed-loop control, keeping tension fluctuations within ±5%. Third, it provides tight coverage by employing geometric linkage between the lifting shaft and the rotating ring, and adaptively correcting according to the workpiece contour, resulting in an overlap rate deviation of less than ±3%, making it suitable for irregularly shaped workpieces such as square, round, and conical shapes. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be discussed below. Obviously, the technical solutions described in conjunction with the accompanying drawings are only some embodiments of the present invention. For those skilled in the art, other embodiments and their accompanying drawings can be obtained based on the embodiments shown in these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional schematic diagram of a modified amorphous alloy coiled iron core binding machine using the method of the present invention; Figure 2 This is a schematic diagram of the rotating ring separation of the modified amorphous alloy coiled iron core binding machine; Figure 3 This is a schematic diagram of the operation of Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the operation of Embodiment 2 of the present invention; Figure 5 This is a flowchart of the method of the present invention. Detailed Implementation

[0025] The technical solutions of various embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments described in the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example 1: As Figure 1 , Figure 2 , Figure 3 and Figure 5As shown, an amorphous alloy coil core binding machine includes a frame 1, on which a lifting motor 2 is mounted. The lifting motor 2 is connected to a measuring platform, on which a driver 5 and a guide 4 are mounted, as well as a rotating ring 3 that cooperates with the driver 5 and the guide 4. The rotating ring 3 includes a fixed ring 31 and a separating ring 32. The fixed ring 31 is equipped with a laser rangefinder 7, a film feeding device 6, and a tension sensor 8. The driver 5 includes a servo motor and an angle encoder. The fixed ring 31 also includes a power supply, a wireless transmission module, and a charging interface. A controller is also included, which can be an external controller or integrated into the frame 1.

[0027] The specific steps for handling the package are as follows.

[0028] Step A: Disassemble the separating ring 32 in the rotating ring 3, place the workpiece 100 into the rotating ring 3, and ensure that the rotating ring 3 can rotate normally. The closer the center of the workpiece 100 to be wrapped is to the center of the rotating ring 3, the better. Manually apply the film to the area of ​​the workpiece 100 to be wrapped, and then tighten it according to the preset tension. After the above preparations are completed, the rotating ring 3 begins to wrap the workpiece 100 with the film, while simultaneously performing real-time laser ranging on the workpiece 100. A first-order low-pass filtering algorithm is used for noise reduction to obtain the filtered distance value.

[0029] Due to the mechanical vibration generated by the high-speed rotation of the rotating ring, the laser sensor output... This includes high-frequency noise. The changes in the workpiece contour are caused by the workpiece's geometry, and their frequency of change is very low, generally less than 1Hz. To filter out high-frequency noise while retaining the effective signal, a first-order low-pass filter is used.

[0030] The formula for a first-order low-pass filter is: ;in, The distance value after filtering is the k-th sample. This represents the original laser ranging value from the kth sample, where k is the sampling number. These are the coefficients of a first-order low-pass filter.

[0031] The cutoff frequency corresponding to the transfer function of a first-order low-pass filter is: Based on the actual application of this application, this application The value ranges from 0.1 to 0.3. If the operating conditions change, The value may exceed the range of values ​​specified in this application.

[0032] Step B: Using the filtered distance value and the known sensor mounting geometry, calculate the original contour radius of the workpiece at the current angle: ;in, The distance between the laser sensor mounting point and the center of the rotating ring is a fixed value. The laser sensor measurement point is in the non-covered area of ​​the thin film, but the laser sensor measurement point must be close enough to the covered area of ​​the thin film, preferably within 1mm. This is mainly to avoid laser measurement errors caused by the transparent thin film. The current angle of the rotating ring. For the workpiece at an angle The original contour radius at that location. For angle The distance value after filtering. It reflects the pure geometric contour of the workpiece without adding the film thickness.

[0033] Step C: The film has a physical thickness h. With each layer wound, the actual radius of the workpiece surface increases by one h. Let the number of wound layers be N, which can be obtained by dividing the cumulative rotation angle of the rotating ring by 2π and rounding down: The formula for calculating the effective radius is: ; in The number of winding layers is obtained by accumulating the rotation angle of the rotating ring, dividing by 2π and rounding down. The physical thickness of the thin film. The angular velocity of the rotating ring's revolution is read by an angle encoder. Consider the effective radius of the workpiece after thickness accumulation.

[0034] Step D: To ensure the film adheres tightly to the workpiece surface and is not stretched, the film feeding linear speed must be equal to the tangential linear speed of the workpiece surface at that radius. ; This is the theoretical linear velocity.

[0035] Step E: As the film is released, the diameter of the film roll gradually decreases, requiring real-time calculation of the current diameter. First, calculate the length of film already used. Since the film feeding line speed can be estimated by the actual motor speed and the current roll diameter: In discrete systems: .

[0036] in This represents the total length of the film used from the start of winding to the current moment. For real-time film delivery line speed, To control the sampling period; The formula for calculating the current diameter of the film roll is: ;in The initial diameter of the film roll is given. h is the film thickness. This formula assumes that the film is tightly wound and without gaps, which is assumed to be true in this application.

[0037] Step F: Read the feedback value from the tension sensor, compare it with the preset tension, and then calculate the linear velocity fine-tuning amount; mechanical clearance, film elasticity, friction, etc., can still cause residual tension deviations, requiring reading the tension sensor feedback value. Then with the set value Comparison. Deviation: Then, the linear velocity fine-tuning is calculated using a PID controller: ;in The proportionality coefficient is 0.5 in this application. The integral coefficient is set to 0.1 in this application. The differential coefficient is 0.05 in this application.

[0038] Step G: Superimpose the theoretical film feeding linear velocity with the fine-tuning amount to obtain the final linear velocity command and convert it into the film feeding device rotation speed; superimpose the feedforward linear velocity with the PID fine-tuning amount to obtain the target linear velocity. Then, based on the relationship between linear velocity and roll diameter... The speed command converted to the film delivery servo motor is: ;in, , The angular velocity of the rotating ring's revolution. Current real-time diameter of the film roll. This is the fine-tuning amount of the linear velocity output by the PID controller.

[0039] Step H: Based on the target overlap rate, rotational angular velocity, and workpiece radius at the current height, calculate the lifting speed of the lifting shaft motor and then output it. The goal of lifting shaft control is to ensure that the film maintains a constant overlap rate on the workpiece surface. The effective coverage distance is: , For the film width, The target overlap rate.

[0040] In order for the lifting shaft to move one pitch per revolution, the base lifting speed should be: For irregularly shaped workpieces, the perimeter varies at the same height. If the lifting speed remains constant, the actual overlap rate of the larger diameter section will decrease. Therefore, it is necessary to determine the overlap rate based on the original radius of the workpiece at the current height. Make corrections. Set a reference radius. Then the contour adaptive correction speed is: ,in Let z be the radius of the workpiece at the current lifting height. The reference radius is a preset value, which is set according to different workpieces; the final output... .

[0041] Within a sampling period (set to 10ms), the following operations are performed.

[0042] 1. Read the actual lifting height z and read the feedback value from the tension sensor. Read and rotate the current angle of the ring. And reading the angular velocity of the rotating ring's revolution .

[0043] 2. Update the filtered distance value after the kth sample. .

[0044] Three: Calculate the workpiece at the angle Original contour radius at the location .

[0045] 4. Update the number of winding layers N and calculate the effective radius of the workpiece after considering the cumulative thickness. .

[0046] 5. Calculated as theoretical linear velocity .

[0047] 6. Read the real-time film delivery line speed Update the total length of the film used from the start of winding to the current moment. Calculate the current real-time diameter of the film roll. .

[0048] 7. Read the feedback value from the tension sensor Calculate the linear velocity adjustment of the PID controller output. .

[0049] 8. Calculate the target linear velocity And the speed command of the film feeding servo motor Then the output is sent to the membrane servo driver.

[0050] 9. Determine the original radius of the workpiece at the current height z. Calculate the foundation lifting speed Obtain the adaptive correction speed of the contour. The output is sent to the lifting shaft motor driver.

[0051] 10: Proceed to the next sampling cycle.

[0052] Example 2, as Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, an amorphous alloy coil core binding machine includes a frame 1, on which a lifting motor 2 is mounted. The lifting motor 2 is connected to a measuring platform, on which a driver 5 and a guide 4 are mounted, as well as a rotating ring 3 that cooperates with the driver 5 and the guide 4. The rotating ring 3 includes a fixed ring 31 and a separating ring 32. The fixed ring 31 is equipped with a laser rangefinder 7, a film feeding device 6, and a tension sensor 8. The driver 5 includes a servo motor and an angle encoder. The separating ring 32 is equipped with a power supply, a wireless transmission module, and a charging interface. The fixed ring and the separating ring are electrically connected. A controller is also included, which can be an external controller or integrated into the frame 1.

[0053] The difference between Embodiment 1 and Embodiment 2 of this application lies in the position of the power supply and wireless transmission module. When the power supply and wireless transmission module are located in the fixed ring 31, the process is simpler; only the separating ring 32 needs to be removed before winding can begin. When the power supply and wireless transmission module are located in the separating ring 32, the workpiece needs to be pushed into the winding area and the separating ring 32 needs to be reinstalled. However, when the rotating ring 3 is integrated, the rotation is more stable and the winding effect is better.

[0054] There are no other differences between Example 1 and Example 2. Table 1: Comparison of the technical effects of the wrapping machine using the method of this application and the ordinary wrapping machine As shown in the table above, the wrapping machine using the wrapping tension control method of this application performs far better than ordinary strapping machines.

[0055] The apparatus and method of this application can be used not only for binding amorphous alloy coiled cores with straps, but also for thin film winding of amorphous alloy coiled cores.

Claims

1. A method for controlling the wrapping tension of an amorphous alloy coiled iron core binding machine, using a planetary-type binding machine with a distance measuring function, characterized by comprising the following steps: Step A: After the workpiece is placed in place, the controller controls the rotation around the workpiece to start the thin film wrapping of the workpiece. At the same time, the controller controls the laser range sensor to perform real-time laser range measurement. A first-order low-pass filter algorithm is used for noise reduction to obtain the filtered distance value. Step B: The controller calculates the real-time contour radius of the workpiece at the current angle based on the distance value and the position of the laser sensor; Step C: The controller performs cumulative compensation on the real-time contour radius of the workpiece based on the number of winding layers and the film thickness to obtain the effective radius of the workpiece; Step D: The controller calculates the required theoretical film feeding linear speed based on the rotational ring angular velocity and the effective radius of the workpiece; Step E: The controller calculates the length of film used in real time and calculates the current diameter of the film roll. Step F: The controller reads the feedback value from the tension sensor, compares it with the preset tension, and then calculates the linear velocity fine-tuning amount; Step G: The controller superimposes the theoretical film feeding linear speed with the fine adjustment amount to obtain the final linear speed command and converts it into the rotational speed of the film feeding device; Step H: The controller calculates the lifting speed of the lifting shaft motor based on the target overlap rate, the rotation ring angular velocity, and the workpiece radius at the current height, and then outputs the result.

2. The method for controlling the wrapping tension of an amorphous alloy coiled iron core binding machine according to claim 1, characterized in that, in The first-order low-pass filter formula in step A is as follows: ; in, The distance value after filtering is the k-th sample. This represents the original laser ranging value from the kth sample, where k is the sampling number. These are the first-order low-pass filter coefficients. The value ranges from 0.1 to 0.

3.

3. The method for controlling the wrapping tension of an amorphous alloy coiled iron core binding machine according to claim 1, characterized in that, The formula for calculating the real-time contour radius of the workpiece in step B is as follows: ; in, The fixed distance between the laser sensor mounting point and the center of the rotating ring. The current angle of the rotating ring. For the workpiece at an angle The original contour radius at that location. For angle The distance value after filtering; The laser sensor measures the area not covered by the thin film.

4. The method for controlling the wrapping tension of an amorphous alloy coiled iron core binding machine according to claim 1, characterized in that, The formula for calculating the effective radius of the workpiece in step C is as follows: ; in The number of winding layers is obtained by accumulating the rotation angle of the rotating ring, dividing by 2π and rounding down. The physical thickness of the thin film.

5. The method for controlling the wrapping tension of an amorphous alloy coiled iron core binding machine according to claim 1, characterized in that, The film length calculation formula used in step E is as follows: ; in This represents the total length of the film used from the start of winding to the current moment. For real-time film delivery line speed; The formula for calculating the current diameter of the film roll is: ; in This is the initial diameter of the film roll.

6. The method for controlling the wrapping tension of an amorphous alloy coiled iron core binding machine according to claim 4, characterized in that, The final film-feeding motor speed command in step G is: ; in, , The angular velocity of the rotating ring's revolution. Current real-time diameter of the film roll. This is the fine-tuning amount of the linear velocity output by the PID controller.

7. The method for controlling the wrapping tension of an amorphous alloy coiled iron core binding machine according to claim 1, characterized in that, The lifting shaft control in step H includes: Target pitch calculation: , For the film width, Target overlap rate; Calculation of basic lifting and lowering speed: ; Contour adaptive correction: ,in Let z be the radius of the workpiece at the current lifting height. Used as a reference radius; Final output .

8. An amorphous alloy coil core binding machine using the wrapping tension control method of claim 1, comprising a frame, a lifting motor mounted on the frame, a measuring platform connected to the lifting motor, a driver and a guide mounted on the measuring platform, and a rotating ring cooperating with the driver and the guide, the rotating ring comprising a fixed ring and a separating ring, characterized in that: The fixed ring is equipped with a laser rangefinder, a film feeding device, and a tension sensor. The driver includes a servo motor and an angle encoder, and also includes a controller.

9. An amorphous alloy coiled iron core binding machine according to claim 8, characterized in that: The fixing ring also includes a power supply, a wireless transmission module, and a charging interface.

10. An amorphous alloy coiled iron core binding machine according to claim 8, characterized in that: The separating ring is equipped with a power supply, a wireless transmission module, and a charging interface, and the fixing ring and the separating ring are electrically connected.

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