Glass bottle line machine and method of production thereof

Abstract

This invention belongs to the technical field of glass bottle and jar manufacturing equipment, specifically relating to a glass bottle forming machine and its production method. It includes at least two parallel forming stations, each equipped with a forming turntable, a drive motor independently driving the turntable, a platform for the operator to stand on, and a handle for the operator to grip. Each platform is equipped with a platform sensing unit; each handle is equipped with a grip sensing unit, which detects the operator's gripping state and gripping force data. The operator's oiling operation is divided into four distinct stages, with speed adjustment triggered only during stage transitions, avoiding frequent speed adjustments caused by minor posture changes. Pre-deceleration begins when the operator grips the handles with both hands but remains standing, effectively eliminating the problem of speed response lagging behind the oiling rhythm.

Description

Technical Field

[0001] This invention belongs to the technical field of glass bottle and jar manufacturing equipment, specifically relating to a glass bottle row machine and its production method. Background Technology

[0002] The forming machine is the core equipment in glass bottle and jar molding production. It consists of multiple forming stations arranged in parallel, each station equipped with a forming turntable on which molds such as preliminary molds and forming molds are mounted. In actual production, the forming machine is usually operated by two operators working together. Each operator is responsible for the oiling operations at three stations, and the forming turntables at each forming station operate synchronously at a uniform set speed.

[0003] In the prior art, Chinese patent CN218918143U discloses an oiling statistics system for a daily-use glass manufacturing line machine. The system records the time point when the operator completes each oiling operation by using buttons and controllers installed on the machine frame. However, this solution relies entirely on the operator manually pressing the buttons to record the data. It cannot automatically detect the operator's operating status and body posture, nor can it adaptively adjust the machine's running speed according to the operating status.

[0004] The existing row-type machine and the aforementioned prior art have the following problems: When the operator applies oil normally, he first stands with both feet on the handle, then lifts one foot off the ground and leans forward to complete the oiling operation. As a result, the center of gravity of the body is shifted forward to the front edge of the platform. When the machine is running at high speed, the operator hastily completes the oiling within a very short operating window, which makes it very easy to lose balance and fall. Summary of the Invention

[0005] To address the aforementioned problems, one objective of this invention is to provide a glass bottle row-forming machine that solves the operational safety hazards caused by the lack of operator status awareness and adaptive speed adjustment mechanism in the oiling operation of existing row-forming machines; another objective of this invention is to provide a production method using this row-forming machine.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A glass bottle forming machine includes a main frame, a feeder mounted on the main frame, and at least two forming stations arranged in parallel. Each forming station is equipped with a forming turntable, a drive motor that independently drives the forming turntable, a platform for the operator to stand on, and a handle for the operator to hold. The forming turntable is provided with a mold. Each of the aforementioned platforms is equipped with a platform sensing unit, which includes pressure sensors disposed at multiple support points at the bottom of the platform for detecting pressure distribution data of the operator acting on the platform. Each of the handles is equipped with a grip sensing unit, which is used to detect the grip state data and grip force data of the operator holding the handle; Each of the handles is also equipped with a proximity sensor for detecting preparatory movements of the operator's hand approaching the handle; It also includes a controller, which is electrically connected to each of the drive motors, each of the step sensing units and each of the grip sensing units. The controller is configured to: identify the operator's operation behavior stage based on the pressure distribution data and the grip state data; and independently adjust the speed of the drive motors of each molding station during the mold opening waiting window based on the operation behavior stage. The controller also receives a global reference signal synchronized with the feeder cycle time to anchor the standard speed regulation cycle to the droplet arrival phase.

[0007] The controller is also configured to perform cross-platform operation detection: When the pressure sensors of the two platforms corresponding to the two adjacent molding stations detect pressure values ​​and the sum of the platform pressure values ​​exceeds the first preset threshold, and only the handle corresponding to one of the platforms is held, and the sum of the pressure values ​​of the two platforms is within the range of a single human body weight, it is determined that the operator has formed a cross-platform operation posture. The operator in the adjacent molding station holds the handle of one of the molding stations and steps on the platform of that molding station and the platform of the other adjacent molding station respectively. The cross-platform operation posture is different from the operator's normal oiling posture. The normal oiling posture is when the operator stands on one foot on a single platform with the other foot hanging in the air to complete the forward leaning movement. The cross-platform operation posture only occurs when the operator needs to expand the operation coverage across workstations. The controller determines the operator's main standing position forming station as the forming station corresponding to the gripped handle based on the cross-platform operating posture, and marks the operator's pressure contribution to the adjacent platform as cross-platform interference load.

[0008] The controller is also configured to: When it is detected that the operator is in a cross-platform operation posture, the drive motor of the molding station corresponding to the gripped handle is adjusted to the first speed regulation mode, and the drive motor of the adjacent molding station that bears the cross-platform interference load is adjusted to the second speed regulation mode. The first speed control mode performs progressive speed adjustment based on the operator's behavior stage; the second speed control mode reduces the drive motor speed to a reference speed based on the magnitude of the cross-platform interference load. of ,in r = interference load value / total pressure value of the platform; where the speed reduction coefficient γ ranges from 0.05 to 0.25. When the interference load ratio is ≤20%, γ takes the lower limit of 0.05, and when the interference load ratio is ≥80%, γ takes the upper limit of 0.25.

[0009] The controller is configured to divide the operator's oiling operation into four behavioral stages based on the pressure distribution data and the grip state data, and execute corresponding speed adjustment strategies for each stage: Phase 0: The operator stands with both feet evenly on the platform, the center of pressure is located in the center area of ​​the platform, and the handles are not being held; the drive motor maintains the reference speed. ; Phase 1: The operator stands with both feet together, hands extended and gripping the handles. The handles are held with a gripping force within the first gripping force range, and the pressure center shifts to the front area of ​​the platform, or the gripping status data changes from 0 to 1 before the pressure center has shifted significantly; the drive motor speed linearly decreases to... to ; Phase 2: The operator suspends one foot and leans forward to perform the oiling operation, maintaining a continuous grip on the handle with a gripping force within the second gripping force range. The minimum value of the second gripping force range is higher than the maximum value of the first gripping force range. The pressure center is stably located in the front end area of ​​the platform with an offset greater than or equal to the first offset threshold. The drive motor speed linearly decreases to... to ; Phase 3: The gripping state is released, the gripping force returns to zero, and the pressure center quickly returns to the center area of ​​the platform; the drive motor speed smoothly recovers to the reference speed. ; The controller only performs speed regulation when it detects that the phase switching conditions are met, and keeps the current drive motor speed unchanged within the phase.

[0010] The controller is configured to determine the switching of each behavioral phase based on the following combinations of sensor features: The conditions for switching from stage 0 to stage 1 are: the pressure center offset speed exceeds the first offset speed threshold and the proximity sensor on the handle detects a hand approach signal, or the grip state data changes from 0 to 1. The conditions for switching from stage 1 to stage 2 are: the pressure center offset is greater than or equal to the first offset threshold and the offset remains stable for no less than 100ms; the gripping force continues to increase and exceeds the maximum value of the first gripping force range. The condition for switching from stage 2 to stage 3 is: the grip state data changes from 1 to 0 and the pressure center offset begins to decrease.

[0011] The controller is also configured to perform automatic speed adjustment based on a standard speed regulation cycle: When the operator switches from stage 1 to stage 2, the controller confirms the stage switch is successful and then automatically executes the subsequent speed adjustment action according to the preset standard speed adjustment cycle, without having to rely on sensor signals for confirmation within the stage. The speed curve of the standard speed regulation cycle includes the following timing parameters, in seconds: During the duration of Phase 1, the rotational speed is Within the time limit linearly reduced to to ; Phase 2 includes a deceleration sub-phase and a maintenance sub-phase: first in Within the time limit to linearly reduced to to Then maintain that speed level Duration; During the duration of Phase 3, the rotational speed is Linear recovery within time ; in, , , , The initial value is set based on the time length of a standard production cycle of the row and column machine, and is subsequently dynamically updated based on the statistical average value of historical operation data; for The preset maximum allowable value is used for stage 2 timeout detection; the total duration of the standard speed regulation cycle. No more than the standard production cycle of the row and column machine 95%, and an additional maintenance phase after phase 3. This allows the drive motor to return to its reference speed. Continue to maintain The system operates until the end of the production cycle to absorb any remaining time and ensure that the pace of each workstation is synchronized. The duration of the recovery phase itself remains unchanged and is not extended due to the absorption of the remaining time; If the first timeout period has elapsed since the confirmation of the switch from stage 1 to stage 2 and no switch signal for stage 3 has been detected, it is determined to be an oiling malfunction, and the controller will forcibly and smoothly restore the speed to normal. A warning signal is issued; during shutdown or timeout, the material droplets corresponding to that station are diverted by the feeder to adjacent stations or waste channels, and feeding resumes only after phase alignment; if a sudden drop in gripping force is detected during the execution of stage 2 and the rate of change exceeds the emergency threshold, and the pressure center offset does not begin to decrease, an emergency shutdown is triggered, and the drive motor stops immediately; wherein, the first timeout duration is greater than the sum of the durations of the deceleration sub-stage and the maintenance sub-stage of stage 2, which is = + +0.5s; The controller is also configured to perform phase 1 timeout processing: if the conditions for switching from phase 1 to phase 2 are not met after the second timeout period from the confirmation time of the switch from phase 0 to phase 1, it is determined that the operator is only holding the handle but has not entered the lubrication state, and the controller forcibly and smoothly restores the rotation speed to The second timeout duration is preset to 2 seconds.

[0012] The plurality of molding stations are divided into at least two station groups, each station group being managed by the same operator; the controller is also configured to perform multi-station collaborative scheduling and phase difference elastic compensation. When both the first operator in the first workstation group and the second operator in the second workstation group are performing oiling operations, and there are adjacent molding workstations between the two workstation groups, the controller applies a cycle time consistency constraint to the workstations at the boundary between the two workstation groups, adjusting the speed of their drive motors to the average speed adjustment level of the two workstation groups to maintain the molding cycle time synchronization of the two workstation groups; the cycle time consistency constraint only takes effect when the operator is in the standby stage or the pre-holding stage, and when the operator is in the oiling stage, the speed adjustment of the behavior stage takes priority; When two adjacent workstations belong to the same operator's workstation group, the speed of each workstation under that operator's responsibility is adjusted independently, and the cumulative phase difference between the workstations is eliminated through an elastic phase compensation mechanism. The controller maintains a phase difference register to record the cumulative phase difference between each station and the reference phase. When the cumulative phase difference exceeds the preset phase difference threshold, the controller performs elastic phase compensation during the mold opening window when the mold is in the open state and the speed change does not affect the molding quality. In the speed recovery stage of stage 3, the acceleration slope is increased to 150% to 200% of the normal recovery slope until the cumulative phase difference returns to zero and the normal acceleration slope is restored. The normal recovery slope is defined as the linear recovery of the drive motor speed from its current value to its normal value during stage 3. The rate of change of is equal to .

[0013] The controller is also configured to execute cross-protection rules and its three-layer suppression strategy: When the first station triggers an emergency stop during the execution of phase 2 by the corresponding operator or triggers a timeout recovery during the duration of phase 1, the drive motor of the second station adjacent to the first station automatically reduces its speed to the safe protection speed. The cross-protection rule satisfies the following three-layer suppression conditions: (a) Time suppression: After the second station slows down, if the operator of the second station is determined to be in the standby stage or the pre-grip stage for at least 100ms, the speed shall be restored to the speed before the speed reduction, without waiting for the first station to recover. (b) Amplitude Suppression: The speed reduction amplitude of the second station shall not exceed the following proportion of the speed reduction amplitude of the first station: when two adjacent stations belong to the same operator's station group, the upper limit proportion is 75%; when two adjacent stations belong to different operators' station groups, the upper limit proportion is 50%; the speed reduction amplitude is defined as (speed before speed reduction - speed after speed reduction) / reference speed. ; (c) Propagation suppression: The deceleration propagates only to one forming station in the direction away from the first station, and does not propagate in the reverse direction. Only the forming station adjacent to the first station performs deceleration, and the station on the other side of the adjacent forming station does not perform deceleration.

[0014] A production method comprising the following steps: Step S1: The pressure distribution data of the operator on the platform is collected in real time by the platform sensing unit of each molding station, and the gripping state data and gripping force data of the operator holding the handle are collected in real time by the grip sensing unit of each molding station. Step S2: The controller divides the operator's oiling operation behavior into four behavior stages based on the pressure distribution data and grip state data: standby stage, pre-grip stage, oiling stage and withdrawal stage, and identifies the current behavior stage. Step S3: When it is detected that there is a pressure signal in both adjacent platforms but only the handle of one platform is being held, it is determined that the operator is in a cross-platform operation posture, the main standing position of the operator is determined to be the forming position corresponding to the holding handle, and the pressure on the other platform is marked as a cross-platform interference load. In step S4, the controller generates target speed control commands for each molding station according to a preset standard speed regulation cycle based on the switched behavior stage only when the behavior stage switching conditions are met, and sends them to the corresponding drive motors to perform speed regulation; wherein, the controller maintains a phase difference register, and performs elastic phase compensation during the mold opening window when the accumulated phase difference exceeds a preset threshold.

[0015] The generation of the target speed control command in step S4 also includes three-layer suppression of cross-protection: When the first station triggers an emergency stop during Phase 2 execution by the corresponding operator or triggers a timeout recovery during the duration of Phase 1, the adjacent second station automatically reduces its speed to the safe protection speed; the speed reduction of the second station meets the following suppression conditions: After the second station slows down, if the operator of the molding station is in the standby or pre-grip stage for no less than 100ms, the speed will be immediately restored to the original speed. This is time suppression. When two adjacent workstations belong to workstation groups of different operators, the speed reduction of the second workstation shall not exceed half of the speed reduction of the first workstation; when two adjacent workstations belong to workstation groups of the same operator, the speed reduction shall not exceed 75% of the speed reduction of the first workstation. This is amplitude suppression. The speed reduction is only transmitted from the first workstation to its adjacent forming workstation and will not continue to be transmitted to more distant workstations. This is propagation suppression.

[0016] Compared with the prior art, the beneficial effects of this invention are: By identifying the operator's main operating position through the hand grip signal, and marking the pressure on adjacent platforms as cross-platform interference loads, the operator's true operating intentions can be accurately identified.

[0017] This invention divides the operator's oiling operation into four distinct behavioral stages. Speed ​​adjustment is only triggered when the stage switches, avoiding the problem of frequent speed adjustment caused by the operator's slight posture adjustments. The pre-deceleration begins when the operator holds the handles with both hands but keeps their feet standing, effectively eliminating the problem of speed adjustment response lagging behind the oiling rhythm.

[0018] After the controller confirms the phase switch, it automatically executes speed regulation according to the preset standard speed regulation cycle, without continuously relying on sensor signals. The duration of each phase can be dynamically optimized based on measured data, making speed regulation predictable and providing a planning basis for cycle synchronization and phase compensation.

[0019] The elastic phase compensation mechanism safely compensates for the phase difference between each molding station during the mold opening window, which not only does not affect the molding quality, but also ensures the synchronicity of the material droplet distribution.

[0020] It significantly improves operational safety and coating quality. Through behavioral stage perception and progressive speed adjustment, it provides ample operating time window while ensuring operator safety, resulting in a significant improvement in coating quality and product qualification rate. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the handle of the present invention; Wherein: 100-forming station; 130-step; 140-handle; 151-pressure sensor; 160-grip sensing unit; 170-proximity sensor; 200-controller. Detailed Implementation

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0023] Example 1

[0024] like Figure 1 and 2 As shown, this embodiment provides a glass bottle forming machine, including a main frame, a feeder mounted on the main frame, and at least two parallel forming stations 100.

[0025] Specifically, the main body of the forming machine is a six-station forming machine, with six forming stations 100 arranged sequentially along the production line direction and numbered as station 1 to station 6. Two operators are responsible for two station groups respectively: the first operator is responsible for stations 1 to 3 (first station group), and the second operator is responsible for stations 4 to 6 (second station group).

[0026] Each forming station 100 is equipped with a circular forming turntable, on which molds are mounted. The molds specifically include a preliminary mold and a forming mold. Each forming turntable is driven independently by a servo motor. The servo motor has a rated power of 2.2kW and a rated speed of 3000rpm. After being reduced in speed by a reducer, it drives the forming turntable. The base speed of the forming turntable is... Based on the type of bottle being produced, this embodiment... =15rpm.

[0027] Each molding station 100 is provided with a rectangular platform 130 below it, supported on the ground by four legs. The platform 130 is equipped with a platform sensing unit, which includes four pressure sensors 151 disposed between the four legs of the platform 130 and the ground. Each pressure sensor 151 is a vibration-resistant resistance strain gauge load cell with a range of 0 to 200 kg.

[0028] The four pressure sensors 151 are installed directly below the four corner legs of the platform 130, and are numbered as follows: (front left), (front right), (Rear left) (Right rear).

[0029] The controller 200 calculates the pressure center coordinates in real time based on the measurement values ​​of the four pressure sensors 151. The calculation formula is as follows: ; ; in to They are respectively to The pressure sensor 151 reads the following: X direction is the left-right direction of the pedal (left is positive), and Y direction is the front-back direction of the pedal (the direction in which the operator leans forward). ;in , The normalized value is calculated as follows: Actual physical offset = Normalized offset × Platform length / 2 (Platform length is the dimension of the platform along the operator's forward lean direction, which is 100cm in this embodiment, so the first offset threshold of 10cm corresponds to a normalized value of 0.2).

[0030] Each molding station 100 has a handle 140 on its side. The handle 140 is equipped with a grip sensing unit 160, which is a flexible thin-film pressure sensor array embedded in the grip area of ​​the handle 140. The array consists of 16 sensing units, covering 360 degrees around the handle 140, with a sampling frequency of 50Hz, and is used to detect the grip state data and grip force data of the operator holding the handle 140.

[0031] The grip status data is a Boolean variable, with 1 indicating a grip and 0 indicating no grip. This grip status data is denoted as... The grip force data is the sum of the measurements from all sensing units. A capacitive proximity sensor 170 is provided on the handle 140, with a detection distance adjustable from 0 to 15 cm. In this embodiment, it is set to 10 cm to detect the operator's hand approaching the handle 140 in preparation.

[0032] The controller 200 uses an industrial PLC and is electrically connected to the drive motors (via servo drivers) of each molding station 100, each step sensing unit (via 4 to 20mA analog input modules), and each grip sensing unit 160 (via analog input modules).

[0033] Furthermore, taking the scenario of the first operator operating workstations 1 and 2 as an example, the detection and processing process of cross-platform operating posture is explained in detail. During normal oiling operations, the operator adopts a posture in which one foot supports the body while standing on a single footrest 130, with the other foot dangling in the air to complete the forward leaning movement. At this time, only a single footrest 130 has a valid pressure signal, while adjacent footrests 130 have no pressure signal or only a very weak vibration transmission signal (below the first preset threshold of 20kg). The controller 200 processes the speed adjustment logic according to the normal behavior stage.

[0034] When an operator needs to expand the operating coverage across molding stations (for example, when an oiling action is needed to cover two sets of molds at stations 1 and 2), the operator will adopt a cross-platform operating posture: one hand holds the handle 140 of station 1 as a body support, and the two feet step on the platform 130 of station 1 and the platform 130 of station 2 respectively.

[0035] The controller 200 continuously polls and monitors the signals from the pressure sensors 151 and grip sensing units 160 at each molding station 100. When it detects that the grip sensing unit 160 of the handle 140 at station 1 has detected a gripping force signal (grip status data is 1), and simultaneously all four pressure sensors 151 on the step 130 at station 1 have detected pressure values ​​(…), the controller 200 detects… to If the total pressure exceeds the first preset threshold of 20kg, and the four pressure sensors 151 of the step 130 at workstation 2 also detect pressure values ​​(each of which exceeds the first preset threshold of 20kg), and the total pressure values ​​of the two steps 130 are within the range of a single human body weight (60kg to 120kg in this embodiment), the controller 200 determines that the operator is in a cross-platform operating posture. The core of this determination logic is that: the steps 130 of two adjacent molding workstations 100 simultaneously generate valid pressure signals, but only the handle 140 of one of the molding workstations 100 is being held, thereby distinguishing the cross-platform characteristics of the operator's hands and feet belonging to different molding workstations 100.

[0036] The controller 200 determines that the operator's main standing position is the forming station 1 (the forming station corresponding to the gripped handle 140), indicating that the operator's target mold is the mold of station 1, and the operator's torso is located on the side of station 1. The controller 200 marks all pressure contributions on the platform 130 of station 2 as cross-platform interference loads. These interference loads are not generated by the operator of station 2, but are caused by the operator of station 1 stepping across the platform.

[0037] After recognizing a cross-platform operating posture, the controller 200 performs station-level differentiated speed regulation. For the main body forming station (station 1), the controller 200 adjusts its drive motor to the first speed regulation mode and performs progressive speed regulation according to the operator's behavior stage; wherein, in the cross-platform posture, the pressure center is calculated based on the single-foot pressure distribution on the footrest 130 corresponding to the gripped handle 140 and the behavior stage is identified, and when the operator's two feet are on the platform at the same time, it is not determined as stage 2. For the adjacent forming station (station 2) that is subjected to cross-platform interference load, the controller 200 adjusts its drive motor to the second speed regulation mode and performs protective speed reduction.

[0038] The speed reduction in the second speed control mode is determined by the speed reduction coefficient γ, which is dynamically calculated using a linear interpolation formula based on the proportion of the cross-platform interference load value on the workstation 2 platform 130 to the total pressure value of that platform 130. The total pressure value is the sum of the measurements from the four pressure sensors 151 on the workstation 2 platform 130. The cross-platform interference load value is the residual value after subtracting the actual pressure value exerted by the operator on the workstation 1 platform 130 from the operator's weight on the workstation 1 platform 130. Since the operator's feet are on two platforms 130 respectively in the cross-platform posture, this residual value is the interference pressure value exerted by the operator on the workstation 2 platform 130. The operator's weight is calibrated and stored in the controller 200 based on the total pressure value of the four pressure sensors 151 when the operator first stands on the platform 130 with both feet, and is recalibrated when the shift changes or the operator changes.

[0039] Specific calculation example: Assuming the operator's weight is 80kg, the total pressure value of platform 1 (station 1) 130 in the cross-platform posture is 55kg, and the total pressure value of platform 2 (station 2) 130 is 25kg, then the calculated cross-platform interference load from the operator at station 1 is 25kg (i.e., the operator's weight of 80kg minus the actual pressure value of platform 1 (station 1) 130, which is 55kg). This 25kg is the cross-platform interference load borne by platform 2 (station 2) 130. Substituting this ratio into the linear interpolation formula for the deceleration coefficient γ: Since the value exceeds the upper limit of 0.25, γ is set to the upper limit of 0.25, and the speed of the drive motor at station 2 is reduced to the reference speed. of = Protective speed reduction is implemented. The speed reduction coefficient γ ranges from 0.05 to 0.25 (this calibration constant range was determined through calibration tests using multiple sets of measured data on operator weight and platform pressure, and is stored as an adjustable parameter in controller 200). Specifically, when the interference load ratio is ≤20%, γ is set to the lower limit of 0.05, and station 2 speeds down by 5%; when the interference load ratio is ≥80%, γ is set to the upper limit of 0.25, and station 2 speeds down by 25%. This speed reduction strategy ensures that adjacent stations appropriately slow down when subjected to cross-platform interference, ensuring operational safety without excessively impacting production efficiency.

[0040] Furthermore, taking the behavior stage identification and speed adjustment process of station 1 (the main body molding station of the first operator) in a complete oiling operation cycle as an example, the following details how the controller 200 divides the operator's oiling operation behavior into four behavior stages based on pressure distribution data and grip state data, and executes corresponding speed adjustment strategies for each stage. In this embodiment, the first grip force range is 5 to 20 N, representing the grip force level when the operator naturally grips the handle 140 but does not exert force to apply oil; the second grip force range is 20 to 80 N, representing the grip force level when the operator exerts force to perform the oiling operation. The first offset speed threshold is 20 mm / s, the second offset threshold is 5 cm, the first offset threshold is 10 cm, and the stabilization determination time is 100 ms.

[0041] Production line configuration: Six-station rotary machine, producing glass cosmetic bottles; base rotation speed of the forming turntable. =15rpm, standard production cycle =4.0s. The specific settings for the standard speed regulation cycle timing parameters are as follows: =1.0s is the deceleration time for stage 1, controlling the speed of the drive motor from Linear smooth transition to The duration of (11 rpm); =0.5s is the time of stage 2 deceleration sub-stage, controlling the speed from linear transition to (8 rpm) duration; =1.5s is the duration of the second stage maintenance sub-stage. The low speed level provides the operator with ample time to complete the oiling operation. =2.5s is the maximum allowable duration of stage 2, which is used for timeout anomaly detection; For the recovery time of stage 3, the control speed is from Linear recovery to The length of time, The lower limit of 0.5s ensures that the recovery slope is not too steep, thus avoiding impact on the equipment. The actual total duration of the standard speed regulation cycle is... =3.8s, which meets the requirement of not exceeding The constraint is 95% (i.e., 3.8s). and The remaining time difference between them is =0.2s, the speed has recovered to the specified value by controller 200 in stage 3. Continue to maintain this The process continues until the end of the production cycle to ensure that the production rhythm of each forming station is synchronized with the overall production cycle of the row and column machines.

[0042] Scenario A: Sequential action path (operator approaches first and then grasps) The following describes in detail the process by which an operator completes a full oiling operation through a sequential action path A (grasping the handle 140 after the proximity sensor 170 detects a hand proximity signal). This path is suitable for operators with a slower pace and whose operating habits involve reaching out to approach the handle 140 before grasping it.

[0043] T=0s, Stage 0 (Standby Stage): The first operator stands with both feet evenly on the platform 130 of workstation 1, with hands hanging naturally at their sides or placed at their sides, not touching the handles 140. The measured values ​​of the four pressure sensors 151 on the platform 130 are approximately... = = = ≈20kg (operator's weight approximately 80kg evenly distributed across the four corners of the 130° platform), pressure center coordinates ≈0、 ≈0, the pressure center is located within ±3cm of the center of platform 130. The handle 140 at workstation 1 is not being held. =0, gripping force reading ≈0N). Controller 200 determines the current stage as stage 0 and sends a speed control command of 15rpm to the servo driver of the drive motor at workstation 1. =15rpm).

[0044] T=1.5s, Stage 0 → Stage 1 switch detected (Path A): The operator begins preparing to apply oil, extending their right hand towards handle 140 at station 1. At this time, proximity sensor 170 detects a hand proximity signal when the operator's hand reaches approximately 10cm from handle 140 (proximity sensor 170 output changes from 0 to 1). Subsequently, the operator grips handle 140 with their right hand, and grip sensing unit 160 detects that the total measured values ​​from all sensing units exceed 5N, and the grip status data changes from 0 to 1. The pressure center offset speed is approximately 30mm / s (triggered when exceeding the first offset speed threshold of 20mm / s). Path A conditions are simultaneously met: the pressure center offset speed exceeds the first offset speed threshold, and proximity sensor 170 detects a hand proximity signal. Controller 200 determines it is a Stage 0 → Stage 1 switch and immediately starts the Stage 1 speed adjustment program of the standard speed adjustment cycle. The speed of the drive motor at station 1 is... The speed decreased linearly and smoothly from 15 rpm to 11 rpm (approximately 73%) within 1.0 second. That is, (0.7 to 0.8) (Within the range). This pre-deceleration is completed during the grip preparation phase while the operator's feet are still standing, providing ample safety speed margin for the upcoming high-risk oiling action.

[0045] T=2.5s, Phase 1 duration (corresponding to Phase 1): The operator has gripped the handle 140 ( =1), with both feet still standing on the platform 130, the upper limbs begin to slightly adjust the grip posture in preparation for applying oil. At this time, the grip force is approximately 15N, within the first grip force range of 5 to 20N. The coordinates of the pressure center are approximately ≈0.10、 ≈0.10, the pressure center offset is about 7cm, located in the front area of ​​the platform 130 (offset of 5 to 10cm, that is, exceeding the second offset threshold of 5cm but less than the first offset threshold of 10cm). The controller 200 keeps the drive motor speed constant (11rpm) within stage 1, and does not trigger additional speed adjustment actions due to the operator's slight posture adjustments.

[0046] T=3.0s, Phase 1→Phase 2 transition detected: The operator begins to enter the core high-risk phase of the oiling operation. The left foot remains on step 130, the right foot is suspended off step 130, and the body leans forward significantly to approach the mold cavity. At this time... (Front left) The pressure value of the sensor increased significantly to approximately 55 kg. (Right front) drops to zero, (Rear left) dropped to approximately 15kg. (Right rear) drops to zero. The coordinates of the pressure center are approximately... ≈1.00、 ≈0.57 (from the above formula) to (Based on readings), the pressure center offset is approximately 58cm, far exceeding the first offset threshold of 10cm, and this offset remains stable for at least 100ms (i.e., 10 consecutive sampling cycles). The gripping force continues to increase to 25N, exceeding the maximum value of 20N in the first gripping force range and entering the second gripping force range of 20 to 80N. Controller 200 determines this as a transition from Phase 1 to Phase 2 and immediately initiates the Phase 2 speed regulation program with a standard speed regulation cycle. The speed of the drive motor at workstation 1 is... Within 0.5 seconds, the speed decreased linearly and smoothly from 11 rpm to 8 rpm (approximately 53%). That is, (0.4 to 0.6) (within the range), and maintain at that speed level =1.5s. The operator can easily perform the oiling operation at a low speed of 8 rpm.

[0047] T = 3.0 to 5.0 s, Phase 2: The operator completes the oiling operation at a low speed of 8 rpm. The oiling time is approximately 2 seconds, providing ample time for the operation, allowing for a smooth and controllable oiling action, and resulting in good oiling quality. During this phase, the controller 200 maintains the drive motor speed of station 1 at a constant 8 rpm, and the gripping force remains stable within the range of approximately 25 to 30 N. If any abnormality occurs (a sudden drop in gripping force and a rapid change in the rate of change), [further action will be taken]. Exceeding 100 N / s or lasting longer than If the time limit is 2.5 seconds, the corresponding exception handler will be triggered.

[0048] T=5.0s, Phase 2→Phase 3 transition detected: Operator completes oiling operation, releases handle 140 (grip status data changes from 1 to 0, grip force returns to ≈0N). Right foot steps back onto platform 130, body returns from a large forward lean to an upright position. Pressure center begins to accelerate back from the front of platform 130 to the center area of ​​platform 130, pressure center offset decreases from 58cm. Controller 200 determines Phase 2→Phase 3 transition and initiates recovery program. Station 1 drive motor speed is at... =Linear recovery from 8 rpm to 15 rpm within 0.8 seconds ( Due to the total duration of this standard speed regulation cycle. =3.8s is less than the standard production cycle. =4.0s, in stage 3 the speed recovers to Afterwards, controller 200 continues to maintain Operation =0.2s until the end of the production cycle, ensuring that the speed adjustment cycle is completely synchronized with the production cycle, without disrupting the overall forming rhythm of the row and column forming machine. It should be noted that, =4.0s is the cycle length of the feeder's cycle time, while T=0s to T=6.0s is the absolute observation time axis for one oiling cycle by the operator; the two have different time bases. In this embodiment, the net speed adjustment time is... =3.8s not greater than ×95% (3.8s), the speed adjustment action can be completed within a single production cycle without disrupting the feeding rhythm.

[0049] T=5.8s, Stage 3 complete: The drive motor speed of station 1 has stabilized at 15rpm. The operator stands evenly on the platform 130 with both feet, returning to the initial standby state. The controller 200 resets the stage mark of the molding station 100 to stage 0, waiting for the next oiling operation cycle.

[0050] Scenario B: Jump motion path (operator directly holds the device) In actual production, some operators move more quickly and smoothly, directly grasping handle 140 while standing with both feet together (skipping the intermediate "approach" phase). The system supports this skip-entry approach. When the "grip status data changes from 0 to 1" is detected, it is directly determined to be a transition from stage 0 to stage 1 (path B), skipping the intermediate judgment of proximity sensor 170, and executing the pre-deceleration procedure of stage 1. At this time, the operator still stands with both feet on the ground and only holds the handles 140 with both hands.

[0051] The following is an example of a jump path operation: T=0s, Stage 0: The operator stands with both feet on the platform at workstation 1 at angle 130, with the center of pressure within ±3cm of the center. =0. Station 1 speed = 15 rpm.

[0052] T=2.0s, Phase 0 → Phase 1 switch detected (path B): Operator's right hand directly grasps the handle 140 of station 1. The process changes from 0 to 1. At this point, the operator's feet remain firmly planted on platform 130, and the center of pressure shows no significant shift. Path B conditions are met, and the process is directly judged as a transition from stage 0 to stage 1. The rotational speed at station 1 starts at 15 rpm. =Linearly decreases to 11 rpm within 1.0s.

[0053] Subsequent stage transition: The operator then suspends one foot in the air and leans forward to enter the oiling posture, which is consistent with the process of stage 1→stage 2→stage 3 in scenario A, and will not be described again.

[0054] By supporting two entry methods, path A and path B, the system can adapt to the different action habits of different operators. Regardless of whether the operator adopts the sequential action of "approach first and then grasp" or the jumping action of "grab directly", the system can accurately trigger the phase switching and pre-deceleration during the preparatory stage of the operator's grasping while standing with both feet.

[0055] If a traditional reactive speed control scheme is used (i.e., the speed is reduced only after the oiling process has started), the system will only begin to reduce speed at T≈3.5s (when the operator leans forward with one foot off the ground). By the time the speed reduction is complete, the operator may have already completed most of the oiling action, resulting in an actual effective low-speed oiling time of less than 0.3 seconds. However, with the staged pre-speed control scheme of this invention, the speed reduction is initiated in stage 1 (T=1.5s or T=2.0s, i.e., when the operator is standing with both feet on the handle at 140 degrees). By the time the oiling process actually begins, the speed has already dropped to 8 rpm, giving the operator approximately 2 seconds of sufficient oiling time under low-speed conditions.

[0056] Furthermore, if the operator fails to enter Phase 2 within the second timeout period during Phase 1, the controller 200 determines that the operator is only holding the handle 140 but has not entered the lubrication state (hands-resting), and forcibly and smoothly restores the speed to [normal]. .

[0057] If more than [time] has elapsed since the confirmation time of the transition from Phase 1 to Phase 2 If no stage 3 switching signal is detected after 2.5 seconds, it is determined to be an oiling malfunction, and the controller 200 forcibly and smoothly restores the speed to normal. It will also issue an audio-visual alert. If the rate of change in grip strength occurs during stage 2... If the emergency threshold of 100 N / s is exceeded, an emergency stop is triggered, and the drive motor stops immediately.

[0058] Furthermore, in the six-station row-and-row machine of this embodiment, the first operator is responsible for stations 1 to 3 (first station group), and the second operator is responsible for stations 4 to 6 (second station group). When the first operator performs an oiling operation at station 1 and the second operator performs an oiling operation at station 4, there are adjacent stations 3 and 4 between the two station groups. The controller 200 applies a cycle consistency constraint to station 3, adjusting its drive motor speed to the average speed regulation level of the two station groups. The controller 200 maintains a phase difference register, continuously recording the cumulative phase difference between each molding station 100 and the reference phase.

[0059] Assuming station 2 lasts for a total of 3 seconds in phases 1 and 2, during which time approximately The equivalent average speed of the machine is calculated (weighted average of speed and duration for each sub-stage, for simplified estimation), while station 1 runs at full speed. After 3 seconds, the cumulative phase difference between the two is approximately 30% of a cycle (approximately 1.2 seconds). Controller 200 detects that the phase difference exceeds a preset threshold of 10% of a cycle. During the recovery phase of stage 3 at station 2, when the main PLC signal of the row machine indicates that the mold opening window is currently open, the acceleration slope of the speed recovery is changed from the normal recovery slope of 125% / s (i.e., 100% / s). In this embodiment, T4 (0.8s) is increased to a compensation value of approximately 209% / s (167% of the normal recovery slope), enabling station 2 to complete phase catching up within approximately 1.4 seconds. After the accumulated phase difference returns to zero, the acceleration slope is restored to normal. The entire compensation process is completed within the mold opening window and does not affect the molding quality.

[0060] Furthermore, suppose that workstation 2 triggers an emergency shutdown (speed reduction of 100%) for some reason. According to the three-layer suppression strategy: Time suppression: After the speed of adjacent station 1 and station 3 is reduced, if their operators are both judged to be in stage 0 or stage 1 within a continuous period of no less than 100ms, the speed will be immediately restored to the speed of 15rpm before the speed reduction, without waiting for station 2 to recover.

[0061] Amplitude suppression: Station 1 and Station 3 belong to the same station group under the responsibility of the first operator. Their speed reduction amplitude shall not exceed 75% of the speed reduction amplitude of Station 2 (if the speed reduction amplitude of Station 2 is 25%, then the speed reduction amplitude of Station 3 shall not exceed 18.75%). In this embodiment, the speed reduction amplitude of Station 3 is 18.75%, and the speed is reduced from 15 rpm to approximately 12.2 rpm (approximately...). It should be noted that, due to propagation suppression limitations, the speed reduction only propagates to station 3 and then stops; station 4 does not implement the speed reduction.

[0062] Propagation suppression: The deceleration signal propagates only from station 2 to adjacent stations 1 and 3, reaching one forming station 100. The adjacent forming station 4 of station 3 is unaffected. With the synergistic effect of the three-layer suppression, the deceleration signal is effectively suppressed after propagating to one forming station 100.

[0063] Example 2

[0064] This embodiment, based on embodiment 1, further addresses various special scenarios for cross-platform operation.

[0065] (a) When the first operator holds the handle 140 of station 1 and both feet are on the platform 130 of station 2 (the pressure on platform 130 of station 1 is zero), the controller 200 determines that it is an emergency cross-platform state, and the operator has completely detached from the platform 130 of the main station forming station. At this time, the controller 200 simultaneously reduces the speed of the drive motors of station 1 and station 2 to 50% of the reference speed (i.e., the special case of the second speed regulation mode with γ=0.5) and issues a warning.

[0066] (b) When the first operator holds the handle 140 of station 1, with one foot on the platform 130 of station 1 and the other foot suspended in the air (the platform 130 of station 2 has no pressure), the controller 200 determines it as a normal oiling posture with one foot suspended in the air, does not trigger cross-platform judgment, and processes it according to the normal behavior stage speed adjustment logic.

[0067] (c) When the first operator holds the handle 140 of station 1 and both feet are on the platform 130 of station 1 but close to the edge of the platform 130, the controller 200 determines that the operator is in the edge standing state and monitors the distance between the pressure center and the edge of the platform 130 in real time. When the distance is less than the safe distance threshold of 50mm, the operator's behavior stage is forcibly raised by one level for processing. For example, the operator in stage 0 is regarded as stage 1 state, and pre-deceleration is started in advance to improve safety.

[0068] The following describes a scenario where two operators simultaneously perform cross-platform operations. When the first operator (responsible for stations 1 to 3) holds the handle 140 of station 1 and steps on the platforms 130 of station 1 and 2, while the second operator (responsible for stations 4 to 6) holds the handle 140 of station 5 and steps on the platforms 130 of station 5 and 4, station 2 is simultaneously subjected to cross-platform interference loads from the first operator, and station 4 is simultaneously subjected to cross-platform interference loads from the second operator. Station 3 serves as the boundary forming station 100 between the two station groups. The controller 200 prioritizes maintaining the cycle stability of station 3 by setting its speed to the average of the speed levels already adjusted for each of the two groups.

[0069] Example 3

[0070] This embodiment adds an adaptive optimization function for the standard speed regulation cycle parameter based on embodiment 1 or embodiment 2.

[0071] The system runs a lightweight learning algorithm on an edge computing server to record complete behavioral phase data for each operator's oiling operation, including the duration of each phase, the grip force change curve, the pressure center offset trajectory, and the turntable speed curve.

[0072] After accumulating at least 100 operation records, the system establishes a personalized operation model for each operator and automatically optimizes the timing parameters of the standard speed regulation cycle based on the model: (Phase 1 deceleration time) is dynamically adjusted based on the operator's average transition time from pre-grip to lubrication; (Stage 2 deceleration time) is dynamically adjusted based on the average time taken for the operator to tilt forward for positioning; (Stage 2 maintenance time) is dynamically adjusted based on the average time taken by the operator to apply the oil; (Stage 3 recovery time) is dynamically adjusted based on the operator's average recovery speed.

[0073] Simultaneously, the system establishes a product-parameter mapping table based on the process requirements of different bottle types (mold size, oiling difficulty, molding cycle, etc.). When the operator switches to different bottle types, the system automatically loads the corresponding optimal speed adjustment parameter set. For example, a 300ml cosmetic bottle corresponds to... =1.0s、 =0.5s =1.5s, corresponding to a 500ml cosmetic bottle =1.2s、 =0.6s =2.0s, parameter set automatically switches according to product type.

[0074] The following describes the practical application process of this invention using a complete production cycle.

[0075] Production line configuration: Six-station rotary machine, two operators, each responsible for three forming stations (100 units), producing 500ml glass cosmetic bottles; base rotation speed of the forming turntable. =12rpm, standard production cycle =5.0s (The cosmetic bottle mold is relatively large, resulting in a longer molding cycle). The standard speed adjustment cycle timing parameters are set as follows: =1.2s、 =0.6s =2.0s, =max( ×95%-( + + ),0.5s)=max(4.75-3.8,0.5)=0.95s, total =4.75s, the remaining time is the hold phase =0.25s absorption.

[0076] The first operator (responsible for workstations 1 to 3) performs a complete operation cycle (jump path B) at workstation 1 as follows: Step S1 (Data Acquisition): The controller 200 continuously acquires real-time data from the four pressure sensors 151 on the platform 130 of workstation 1 and real-time grip status data and grip force data from the grip sensing unit 160 on the handle 140 at a sampling rate of 100Hz.

[0077] Step S2 (Behavioral Phase Recognition): The controller 200 performs real-time analysis on the collected pressure distribution data and grip state data. At T=0s, to The readings were all approximately 20 kg (the operator's weight of 80 kg was evenly distributed at the four corners of the platform 130), the pressure center coordinates were close to the origin, and the grip status data was 0, indicating that the current stage was stage 0. At T=2.0s, the controller 200 detected that the grip status data changed from 0 to 1 (the operator directly gripped the handle 140, jump path B), the grip force was approximately 12N, which was within the first grip force range of 5 to 20N, and the pressure center was still near the center area of ​​the platform 130 (offset of approximately 3cm), indicating a transition from stage 0 to stage 1. At T=3.2s, the controller 200 detected that the pressure center offset was approximately 11cm, exceeding the first offset threshold of 10cm and remaining stable for at least 100ms, the grip force increased to 22N, exceeding the maximum value of the first grip force range of 20N and entering the second grip force range, indicating a transition from stage 1 to stage 2. At T=5.8s, the controller 200 detects that the grip status data changes from 1 to 0, the grip force returns to zero, and the pressure center begins to move back towards the center of the platform 130, which determines that it is a transition from stage 2 to stage 3.

[0078] Step S3 (Cross-platform operation detection): Throughout the entire operation cycle, the controller 200 continuously monitors whether there are simultaneous pressure signals on the platforms 130 of two adjacent molding stations 100. If a cross-platform condition is detected, station-level differentiated speed adjustment is executed according to the cross-platform processing logic. In this operation cycle, each molding station 100 operates in a normal posture, and the cross-platform judgment is not triggered.

[0079] Step S4 (Standard Speed ​​Regulation Cycle Speed ​​Regulation and Phase Compensation): After the Phase 0 → Phase 1 switching confirmation, the controller 200 in =Within 1.2s, the speed of the drive motor of station 1 is linearly reduced from 12rpm to approximately 9rpm. After the Phase 1 → Phase 2 switch is confirmed, controller 200 in =The speed is linearly reduced from 9 rpm to about 7 rpm within 0.6 seconds. ), and maintain =2.0s for the operator to complete the oiling. After the Phase 2 → Phase 3 switch is confirmed, the controller 200... Within 0.95 seconds, the engine speed was smoothly restored from 7 rpm to 12 rpm, and then... Maintain 12 rpm for 0.25 seconds until the end of the production cycle. Total duration of the entire speed adjustment cycle. =4.75s, not exceeding the capacity of this size cosmetic bottle. ×95%=4.75s. Simultaneously, the controller 200 maintains the phase difference register and performs elastic phase compensation during the mold opening window of the recovery phase in stage 3.

[0080] Furthermore, step S4 also includes three layers of cross-protection suppression. If station 1 triggers an emergency stop during stage 2 due to a sudden drop in operator grip strength, the adjacent station 2 automatically reduces its speed to the safe protection speed. Time suppression: If the operator of station 2 is in stage 0 or stage 1 for at least 100ms after the speed reduction, the original speed is immediately restored; Amplitude suppression: The speed reduction amplitude of station 2 does not exceed 50% of the speed reduction amplitude of station 1 (for different operator station groups); Propagation suppression: The speed reduction only propagates from station 1 to station 2 through one forming station 100.

[0081] A complete production cycle takes approximately 5.0 seconds, which is the same as the production cycle of a cosmetic bottle of this specification on a linear conveyor. =5.0s matching. The operator obtained approximately 2 seconds of oiling time under low-speed conditions (during stage 2).

[0082] The above description only illustrates preferred embodiments of the present invention, but the present invention is not limited to the above embodiments.

Claims

1. A glass bottle forming machine, comprising a main frame, a feeder mounted on the main frame, and at least two parallel forming stations (100), each forming station (100) being provided with a forming turntable, a drive motor independently driving the forming turntable, a platform (130) for an operator to stand on, and a handle (140) for the operator to grip, wherein a mold is provided on the forming turntable; characterized in that: Each of the footboards (130) is provided with a footboard sensing unit, which includes pressure sensors (151) disposed at multiple support points at the bottom of the footboard (130) for detecting pressure distribution data of the operator acting on the footboard (130); Each of the handles (140) is provided with a grip sensing unit (160), which is used to detect the grip state data and grip force data of the operator gripping the handle (140); Each of the handles (140) is also provided with a proximity sensor (170) for detecting preparatory movements of an operator's hand approaching the handle (140); It also includes a controller (200) electrically connected to each of the drive motors, each of the step sensing units and each of the grip sensing units (160), the controller (200) being configured to: identify the operator's operation behavior stage based on the pressure distribution data and the grip state data; and independently adjust the speed of the drive motors of each of the molding stations (100) during the mold opening waiting window period based on the operation behavior stage. The controller (200) also receives a global reference signal synchronized with the feeder cycle time and anchors the standard speed regulation cycle to the droplet arrival phase.

2. The glass bottle arranging machine according to claim 1, characterized in that, The controller (200) is also configured to perform cross-platform operation detection: When the pressure sensors (151) of the two steps (130) in two adjacent molding stations (100) detect pressure values ​​and the total pressure values ​​of the steps exceed the first preset threshold, and only the handle (140) of one of the steps (130) is held, and the total pressure values ​​of the two steps (130) are within the range of a single human body weight, it is determined that the operator has formed a cross-platform operation posture. The operator in the adjacent molding station (100) holds the handle (140) of one of the molding stations (100) and steps (130) of the molding station (100) and the adjacent molding station (100) respectively. The cross-platform operation posture is different from the operator's normal oiling posture. The normal oiling posture is when the operator stands on a single foot support on a single footrest (130) with the other foot hanging in the air to complete the forward leaning and protruding action. The cross-platform operation posture only occurs when the operator needs to cross workstations to expand the operation coverage area. The controller (200) determines the main standing position of the operator as the forming position corresponding to the handle (140) based on the cross-platform operation posture, and marks the pressure contribution of the operator to the adjacent platform (130) as the cross-platform interference load.

3. A glass bottle arranging machine according to claim 2, characterized in that, The controller (200) is also configured to: When it is detected that the operator is in a cross-platform operation posture, the drive motor of the molding station (100) corresponding to the gripped handle (140) is adjusted to the first speed regulation mode, and the drive motor of the adjacent molding station (100) bearing the cross-platform interference load is adjusted to the second speed regulation mode. The first speed control mode performs progressive speed adjustment based on the operator's behavior stage; the second speed control mode reduces the drive motor speed to a reference speed based on the magnitude of the cross-platform interference load. of ,in r = interference load value / total pressure value of the platform; where the speed reduction coefficient γ ranges from 0.05 to 0.

25. When the interference load ratio is ≤20%, γ takes the lower limit of 0.05, and when the interference load ratio is ≥80%, γ takes the upper limit of 0.

25.

4. A glass bottle arranging machine according to claim 3, characterized in that, The controller (200) is configured to divide the operator's oiling operation into four behavioral stages based on the pressure distribution data and the grip state data, and execute corresponding speed adjustment strategies for each stage: Stage 0: The operator stands with both feet evenly on the platform (130), the center of pressure is located in the central area of ​​the platform (130), and the handle (140) is not being held; the drive motor maintains the reference speed. ; Phase 1: The operator stands with both feet together, extends and grasps the handle (140). The handle (140) is held and the gripping force is within the first gripping force range. The pressure center shifts to the front area of ​​the platform (130), or the pressure center has not shifted significantly but the gripping state data has changed from 0 to 1; the speed of the drive motor decreases linearly to... to ; Phase 2: The operator suspends one foot and leans forward to perform the oiling operation, continuously holding the handle (140) with the gripping force within the second gripping force range. The minimum value of the second gripping force range is higher than the maximum value of the first gripping force range. The pressure center is stably located in the front end area of ​​the pedal (130) with an offset greater than or equal to the first offset threshold. The speed of the drive motor decreases linearly to... to ; Phase 3: The gripping state is released, the gripping force returns to zero, and the pressure center quickly returns to the center area of ​​the platform (130); the speed of the drive motor smoothly recovers to the reference speed. ; The controller (200) performs speed regulation only when the phase switching condition is met, and keeps the current drive motor speed unchanged within the phase.

5. A glass bottle arranging machine according to claim 4, characterized in that, The controller (200) is configured to determine the switching of each behavioral phase based on the following combination of sensor features: The conditions for switching from stage 0 to stage 1 are: the pressure center offset speed exceeds the first offset speed threshold and the proximity sensor (170) provided on the handle (140) detects a hand approach signal, or the grip state data changes from 0 to 1; The conditions for switching from stage 1 to stage 2 are: the pressure center offset is greater than or equal to the first offset threshold and the offset remains stable for no less than 100ms; the gripping force continues to increase and exceeds the maximum value of the first gripping force range. The condition for switching from stage 2 to stage 3 is: the grip state data changes from 1 to 0 and the pressure center offset begins to decrease.

6. A glass bottle arranging machine according to claim 5, characterized in that, The controller (200) is also configured to perform automatic speed regulation based on a standard speed regulation cycle: When the operator switches from stage 1 to stage 2, the controller (200) confirms that the stage switch is successful and then automatically executes the subsequent speed adjustment action according to the preset standard speed adjustment cycle, without having to rely on sensor signals for confirmation within the stage. The speed curve of the standard speed regulation cycle includes the following timing parameters, in seconds: During the duration of Phase 1, the rotational speed is Within the time limit linearly reduced to to ; Phase 2 includes a deceleration sub-phase and a maintenance sub-phase: first in Within the time limit to linearly reduced to to Then maintain that speed level Duration; During the duration of Phase 3, the rotational speed is Linear recovery within time ; in, , , , The initial value is set based on the time length of a standard production cycle of the row and column machine, and is subsequently dynamically updated based on the statistical average value of historical operation data; for The preset maximum allowable value is used for stage 2 timeout detection; the total duration of the standard speed regulation cycle. No more than the standard production cycle of the row and column machine 95%, and an additional maintenance phase after phase 3. This allows the drive motor to return to its reference speed. Continue to maintain The system operates until the end of the production cycle to absorb any remaining time and ensure that the pace of each workstation is synchronized. The duration of the recovery phase itself remains unchanged and is not extended due to the absorption of the remaining time; If the first timeout period has elapsed since the confirmation of the switch from stage 1 to stage 2 and no switch signal for stage 3 has been detected, it is determined to be an oiling abnormality, and the controller (200) will force the speed to be smoothly restored to normal. A warning signal is issued; during shutdown or timeout, the material droplets corresponding to that station are diverted by the feeder to adjacent stations or waste channels, and feeding resumes only after phase alignment; if a sudden drop in gripping force is detected during the execution of stage 2 and the rate of change exceeds the emergency threshold, and the pressure center offset does not begin to decrease, an emergency shutdown is triggered, and the drive motor stops immediately; wherein, the first timeout duration is greater than the sum of the durations of the deceleration sub-stage and the maintenance sub-stage of stage 2, which is = + +0.5s; The controller (200) is also configured to perform phase 1 timeout processing: if the condition for switching from phase 1 to phase 2 is not detected after a second timeout period from the confirmation time of switching from phase 0 to phase 1, it is determined that the operator is only holding the handle (140) but has not entered the lubrication state, and the controller (200) forcibly and smoothly restores the rotation speed to The second timeout duration is preset to 2 seconds.

7. A glass bottle arranging machine according to claim 6, characterized in that, The plurality of molding stations (100) are divided into at least two station groups, each station group being managed by the same operator; the controller (200) is also configured to perform multi-station collaborative scheduling and phase difference elastic compensation: When the first operator in the first workstation group and the second operator in the second workstation group are both performing oiling operations, and there are adjacent molding workstations (100) between the two workstation groups, the controller (200) applies a cycle consistency constraint to the workstations adjacent to the boundary of the two workstation groups, adjusting the speed of their drive motors to the average speed regulation level of the two workstation groups to maintain the molding cycle synchronization of the two workstation groups; the cycle consistency constraint only takes effect when the operator is in the standby stage or the pre-holding stage, and when the operator is in the oiling stage, the speed regulation of the behavior stage takes priority; When two adjacent workstations belong to the same operator's workstation group, the speed of each workstation under that operator's responsibility is adjusted independently, and the cumulative phase difference between the workstations is eliminated through an elastic phase compensation mechanism. The controller (200) maintains a phase difference register to record the cumulative phase difference between each station and the reference phase. When the cumulative phase difference exceeds the preset phase difference threshold, the controller (200) performs elastic phase compensation during the mold opening window when the mold is in the open state and the speed change does not affect the molding quality. In the speed recovery stage of stage 3, the acceleration slope is increased to 150% to 200% of the normal recovery slope until the cumulative phase difference returns to zero and the normal acceleration slope is restored. The normal recovery slope is defined as the linear recovery of the drive motor speed from its current value to its normal value during stage 3. The rate of change of is equal to .

8. A glass bottle arranging machine according to claim 7, characterized in that, The controller (200) is also configured to execute cross-protection rules and its three-layer suppression strategy: When the first station triggers an emergency stop during the execution of phase 2 by the corresponding operator or triggers a timeout recovery during the duration of phase 1, the drive motor of the second station adjacent to the first station automatically reduces its speed to the safe protection speed. The cross-protection rule satisfies the following three-layer suppression conditions: (a) Time suppression: After the second station slows down, if the operator of the second station is determined to be in the standby stage or the pre-grip stage for at least 100ms, the speed shall be restored to the speed before the speed reduction, without waiting for the first station to recover. (b) Amplitude Suppression: The speed reduction amplitude of the second station shall not exceed the following proportion of the speed reduction amplitude of the first station: when two adjacent stations belong to the same operator's station group, the upper limit proportion is 75%; when two adjacent stations belong to different operators' station groups, the upper limit proportion is 50%; the speed reduction amplitude is defined as (speed before speed reduction - speed after speed reduction) / reference speed. ; (c) Propagation suppression: The deceleration propagates only to one forming station (100) in the direction away from the first station, and does not propagate in the reverse direction. Only the adjacent forming station (100) of the first station performs deceleration, and the station on the other side of the adjacent forming station (100) does not perform deceleration.

9. A production method for a glass bottle row machine based on any one of claims 1 to 8, characterized in that, Includes the following steps: Step S1: The pressure distribution data of the operator acting on the platform (130) is collected in real time by the platform sensing unit of each molding station (100), and the gripping state data and gripping force data of the operator gripping the handle (140) are collected in real time by the grip sensing unit (160) of each molding station (100). Step S2, the controller (200) divides the operator's oiling operation behavior into four behavior stages based on the pressure distribution data and grip state data: standby stage, pre-grip stage, oiling stage and withdrawal stage, and identifies the current behavior stage. Step S3: When it is detected that there is a pressure signal on both adjacent steps (130) but only the handle (140) of one of the steps (130) is held, it is determined that the operator is in a cross-platform operation posture, the main standing position of the operator is determined to be the forming position corresponding to the holding handle (140), and the pressure on the other step (130) is marked as a cross-platform interference load. In step S4, the controller (200) generates target speed control commands for each molding station (100) according to the preset standard speed regulation cycle based on the switched behavior stage only when the behavior stage switching conditions are met, and sends them to the corresponding drive motor to perform speed regulation; wherein, the controller (200) maintains a phase difference register, and performs elastic phase compensation during the mold opening window when the cumulative phase difference exceeds a preset threshold.

10. The production method according to claim 9, characterized in that, The generation of the target speed control command in step S4 also includes three-layer suppression of cross-protection: When the first station triggers an emergency stop during Phase 2 execution by the corresponding operator or triggers a timeout recovery during the duration of Phase 1, the adjacent second station automatically reduces its speed to the safe protection speed; the speed reduction of the second station meets the following suppression conditions: After the second station slows down, if the operator of the molding station (100) is in the standby or pre-holding stage for no less than 100ms, the speed will be restored to the original speed immediately. This is time suppression. When two adjacent workstations belong to workstation groups of different operators, the speed reduction of the second workstation shall not exceed half of the speed reduction of the first workstation; when two adjacent workstations belong to workstation groups of the same operator, the speed reduction shall not exceed 75% of the speed reduction of the first workstation. This is amplitude suppression; the speed reduction is only transmitted from the first workstation to its adjacent forming workstation (100) and does not continue to be transmitted to more distant workstations. This is propagation suppression.

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