CN100462286C - powder supply device - Google Patents

Abstract

The medicine powder supplying device has one controller in automation mode capable of controlling the vibrating output of the piezoelectric elements based on the detection output of the vibration sensor; regulating knobs set on the operation panel for the switching from automation mode to the manual mode and setting the vibrating output of the piezoelectric elements in the manual mode. When the controller accepts the command input via the regulating knobs, it can execute the manual mode, in which the vibrating output of the piezoelectric elements is maintained in the set vibration strength based on the detection output of the vibrating sensor. Therefore, in the medicine powder supplying device, the operator can regulate the vibration being applied onto the material tank the vibration generator by manually.

Description

powder supply device

technical field

The present invention relates to a powdered medicine supply device for supplying powdered medicine to a supply object such as a disc having a medicine packaging device.

Background technique

In the past, for example, in Patent Document 1 (Japanese Patent No. 2669511 Specification), there is a known drug packaging device in which a disk with an arc-shaped outer peripheral groove formed on the outer peripheral part can be driven to rotate. The powdered medicine is supplied to the outer peripheral groove by the powdered medicine supply device, and the powdered medicine supplied on the outer peripheral groove is scraped out by a powder medicine scraping device for 1 package, and supplied to the packaging device through the hopper, Pack 1 pack each time. The powdered medicine supply device, as described in, for example, Patent Document 2 (Japanese Patent Laid-Open No. 8-156914 ) and Patent Document 3 (Japanese Patent Laid-Open No. 8-156916 ), has a hopper, a chute, The vibration generator or the like automatically controls the output of the vibration generator based on the detection output of the vibration sensor, thereby quantitatively supplying the powdered medicine to the disk.

However, even if the output of the vibration generator is automatically controlled by taking various conditions such as the type of powdered medicine, the shape and size of the particles into consideration as much as possible, it is difficult to quantify the amount of powdered medicine supplied with high precision. . Therefore, there is a strong demand for an operator to manually adjust the output of the vibration generator.

Contents of the invention

Therefore, the object of the present invention is to provide a powdered medicine supply device, which can manually adjust the vibration applied to the trough by the vibration generator by the operator.

Therefore, the present invention provides a kind of powdered medicine supply device, has: Vibration is applied to the hopper, the powdered medicine that falls from hopper to described hopper is conveyed to the supply target vibration generator; The vibration output of this vibration generator is controlled A vibration detector for detection; at least the control section capable of performing an automatic mode of controlling the vibration output of the vibration generator according to the detection output by the vibration detector, is characterized in that it has a manual mode from the automatic mode Mode switching and a manual mode switcher for setting the vibration output of the vibration generator in the manual mode, the control unit can perform the vibration detection according to the vibration detection when receiving an instruction from the manual mode switcher. The detection output of the vibration generator, the manual mode of controlling the vibration output of the vibration generator to maintain the vibration intensity set by the manual mode switcher.

In the powdered medicine supply device of the present invention, the output of the vibration generator that vibrates the trough can be switched from the automatic mode to the manual mode by using the manual mode switcher. In addition, the output of the vibration generator in the manual mode can be set by using the manual mode switcher.

Preferably, there is also an automatic mode return instruction device for instructing the return from the manual mode to the automatic mode, and when the control part receives an instruction from the automatic mode return instruction device, the vibration will be generated. The control of the vibration output of the device is switched from the manual mode to the automatic mode.

In addition to the manual mode switcher, the control of the vibration output of the vibration generator can be freely switched between the automatic mode and the manual mode by providing the automatic mode return command device.

Preferably, when the control unit receives an instruction from the automatic mode return instruction unit in the manual mode, it keeps the vibration intensity at the moment after receiving the instruction for a predetermined time, and uses the vibration intensity as a reference. value then turns on the automatic mode.

Since it is possible to prevent a sudden change in the output of the vibration generator when an instruction is input from the automatic mode return command device to the control unit, it does not cause a sudden increase or decrease in the amount of powdered medicine supplied to the supply object, and the manual mode can be returned to the automatic mode. .

As can be seen from the above description, in the powdered medicine supply device of the present invention, the output of the vibration generator that vibrates the trough can be switched from the automatic mode to the manual mode by using the manual mode switcher. Also, the output of the vibration generator in the manual mode can be set by using the manual mode switcher. Therefore, the operator can manually adjust the vibration applied to the trough by the vibration generator by operating the manual mode switch.

Again, in addition to the manual mode switcher, also have the occasion of automatic mode return command device, the operator can operate the vibration generator between automatic mode and manual mode by operating the manual mode switcher and automatic mode return command device. The control of the vibration output can be switched freely.

Also, when the control unit receives an instruction from the automatic mode return command device in the automatic mode, after the vibration intensity at the moment after receiving the instruction is kept for a predetermined time, and then the automatic mode is turned on again based on the vibration intensity, it can Prevents sudden output changes of the vibration generator when returning from manual mode to automatic mode. Therefore, it is possible to return from the manual mode to the automatic mode without rapidly increasing or decreasing the supply amount of the powdered medicine to the supply target.

Description of drawings

Fig. 1 is a perspective view showing the appearance of a drug packaging device having a powdered drug supply device according to an embodiment of the present invention.

Fig. 2 is a perspective view showing a powdered medicine dispensing unit of the medicine packaging device of Fig. 1 .

Fig. 3 is a perspective view showing a powder medicine dispensing unit of the medicine packaging device of Fig. 1 .

Fig. 4 is a schematic configuration diagram showing a powder medicine supply device according to an embodiment of the present invention.

Fig. 5 is a left side view showing the powder medicine supply device according to the embodiment of the present invention.

Fig. 6 is a front view showing a powder medicine supply device according to an embodiment of the present invention.

Fig. 7 is a plan view showing a powder medicine supply device according to an embodiment of the present invention.

Fig. 8 is a front view showing an operation panel.

9 is a graph showing the relationship between time, the voltage applied to the piezoelectric element, and the detection output of the vibration sensor in the automatic mode.

10 is a graph showing an example of the relationship between the time, the voltage applied to the piezoelectric element, and the detection output of the vibration sensor when the adjustment knob and the automatic mode return switch are operated.

11 is a graph showing another example of the relationship between the time, the voltage applied to the piezoelectric element, and the detection output of the vibration sensor when the adjustment knob and the automatic mode return switch are operated.

Detailed ways

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

From Fig. 1 to Fig. 3, a medicine packaging device having a powdered medicine supply device according to an embodiment of the present invention is shown. This medicine packaging device has a powdered medicine dispensing unit 1 and a powdered medicine packaging unit 2 . In FIG. 1, 60 is a personal computer for receiving or inputting prescription data.

As shown in Figures 2 and 3, the powdered medicine dispensing part 1 is provided with first and second circles respectively on the platform 5 of the device body 4 covered openly by the upper cover 3 (referring to Figure 1). The structure of the trays (supply objects) 6, 7, the powder medicine supply devices 8A, 8B, and the scraping device 9. However, the scraper device 9 is omitted in FIG. 2 .

The discs 6, 7 are driven to rotate around shaft holes 6a, 7a extending in the vertical direction by drive motors 11, 12, respectively. The discs 6 and 7 are provided with outer peripheral grooves 10 with arc-shaped cross-sections. The powdered medicine is supplied from the corresponding powdered medicine supply device 8A, 8B to the outer peripheral tank 10 while the disks 6 and 7 are rotating. The first disk 6 is provided at a slightly higher position than the second disk 7, and is provided on the table 5 in a partially overlapping state in a plan view of the outer peripheral portions of both. Also, a cleaning device for cleaning the outer peripheral grooves 10 of the discs 6, 7 is provided on the platen 5, which is omitted in FIGS. 2 and 3 .

The scraping device 9 is arranged at the central part of each disk 6, 7, and the powdered medicine supplied to the outer peripheral tank 10 by the powdered medicine supplying device 8A, 8B is scraped out one pack at a time and sent to the powdered medicine packaging part. 2 falls.

The powdered medicine packaging section 2 has a conveying device for automatically conveying the packaging paper wound on a drum, a hopper member for supplying powdered medicine to the conveyed packaging paper, and a device for heat-sealing the supplied packaging paper. Sealing means.

Next, powdered medicine supply devices 8A and 8B will be described with reference to FIGS. 1 , 4 to 8 . First, with reference to Fig. 4, the powdered medicine supplying devices 8A, 8B are connected to a common control device (control unit) 15, and the control device 15 is connected with an operation panel 16 provided on the upper surface of the device body 4 of the medicine packaging device (refer to figure 1). Since the powdered medicine supplying devices 8A and 8B have the same structure, unless otherwise mentioned, only the powdered medicine supplying device 8A will be described below.

Referring to FIGS. 4 to 7 , the powdered medicine supply device 8A has a hopper 21 and a trough 22 on a base 20 disposed on the table 5 (see FIGS. 2 and 3 ) of the medicine packaging device.

The hopper 21 is attached to the hopper support part 23 . The hopper support part 23 has: a hopper support frame 23a on which the hopper 21 is detachably installed, and a support arm 23b extending downward from the hopper support frame 23a, and the support arm 23b passes through the pedestal part 25 relatively fixed on the machine base 20 The rotating part 27 is connected. Therefore, the hopper 21 can swing upward and downward with the rotating part 27 as a fulcrum.

As shown most clearly in FIG. 6 , an auxiliary arm 23 c for swing driving is provided on the front side of the hopper support portion 23 . A cam follower 29 is attached to the lower end side of the auxiliary arm 23c. On the other hand, an angle control motor 33 to which a cam 31 for adjusting the hopper angle is fixed to a rotating shaft 33 a is fixed to the machine base 20 . Since the cam follower 29 follows the phase change of the cam 31 , the angle of the hopper 21 surrounding the rotating portion 27 changes corresponding to the rotational angle position of the rotating shaft 33 a of the angle control motor 33 .

An angle stop sensor 34 for setting the angle of the hopper 21 around the turning portion 27 is also provided. This angle stop sensor 34 has: fixed on the rotation shaft 33a of the angle control motor 33, on its outer periphery, the non-detection part 36 that a plurality of magnets 35 are installed with a certain interval; The Hall element 37 is used to detect the rotational angle position of the rotational shaft 33a.

A hopper striking mechanism 38 for intermittently applying impact to the hopper 21 is also provided. The hopper striking mechanism 38 has an electromagnet 39 and a hopper striking member 40 whose base end side is fixed to an output shaft 39 a of the electromagnet 39 . When the electromagnet 39 is driven, the front end of the hopper striking member 40 collides with the side of the hopper 21 to apply an impact.

The chute 22 is arranged on the lower side of the hopper 21 so as to extend in the horizontal direction, and its front end 22a is bent downward. The trough 22 is screwed onto the trough supporting member 41 , and a hammer member 42 is fixed on the bottom of the trough supporting member 41 . The trough support member 41 is connected to the machine base 20 through the vibration generating mechanism 43 . The vibration generating mechanism 43 has a bracket 45 screwed to the machine base 20 via a spring 44 for preventing transmission of vibration. A fixing block 46 is fixed to the bracket 45 . The lower ends of two piezoelectric elements (vibration generators) 47A and 47B are fixed to the fixing block 46 . The upper ends of these piezoelectric elements 47A, 47B are fixed to a fixing block 61 fixed to the tank support member 41 . Therefore, when a voltage is applied to the piezoelectric elements 47A and 47B to expand and contract in the thickness direction, vibration in the front-back direction is applied to the tank 22 via the tank support member 41 . A vibration sensor (vibration detector) 48 is arranged on the bracket 45 in order to detect the intensity of the vibration applied to the tank 22 , that is, the vibration output of the piezoelectric elements 47A and 47B. Also, a counterweight 49 for balancing the forward and backward movement of the bracket 45 when the piezoelectric elements 47A and 47B are driven is fixed to the rear end side of the bracket 45 .

A gap is provided between the lower end of the hopper 21 and the chute 22, and the powdered medicine thrown into the hopper 21 from the upper end opening 21a falls onto the chute 22 from the lower end opening 21b. The powdered medicine falling to the material chute 22 moves from the base end side to the front end 22a on the material chute 22 by means of the vibration generating mechanism 43 and by the vibration imparted to the material chute 22, and moves from the front end 22a to the outer peripheral groove 10 of the disc 6. fall. In order to detect the presence or absence of powdered medicines falling from the chute 22 to the disc 6, a reflective powdered medicines drop detection sensor 50 is provided.

The control device 15 is constituted by, for example, peripheral circuits and peripheral elements such as a microcomputer, a memory, and an I/O interface. As shown in FIG. 4, the control device 15 is connected with the operation lights 104A, 104B described later, the electromagnet 39, the angle control motor 33 and the piezoelectric elements 47A, 47B through the D/A converters 51A, 51B, 51C, and 51D. It is driven by an instruction from the control device 15 . Furthermore, the control device 15 is connected to the Hall element 37 having the angle stop sensor 34 , the vibration sensor 48 , and the powder medicine drop detection sensor 50 through A/D converters 52A, 52B, and 52C, and the detection outputs of these sensors are input to the control device 15 .

The operation panel 16 has adjustment knobs (manual mode switch) 101A, 101B corresponding to the powdered medicine supply devices 8A, 8B. As will be described in detail later, by operating the adjustment knobs 101A, 101B, the vibration output of the piezoelectric elements 47A, 47B can be switched from an automatic mode to a manual mode. Moreover, by operating the adjustment knobs 101A, 101B, the vibration output of the piezoelectric elements 47A, 47B in the manual mode can be set. The vibration intensity set by the adjustment knobs 101A, 101B is displayed, for example, by level meters 103A, 103B composed of a plurality of LED segments. Also, the operation panel 16 has automatic mode return switches (automatic mode return commanders) 102A, 102B for returning the vibration output of the piezoelectric elements 47A, 47B from the manual mode to the automatic mode, as will be described in detail later. In addition, the operation panel 16 also has operation lamps 104A, 104B for displaying whether each of the powdered medicine supply devices 8A, 8B is in operation.

In addition, the operation panel 16 is provided with off switches 106A, 106B and open switches 107A, 107B for opening and closing the upper end opening 21a of the hopper 21 of each of the powdered medicine supply devices 8A, 8B (not shown) to perform powdered medicine supplying. A start switch 108 and a stop switch 109 for starting and stopping the operation of the entire supply device, and a display unit 110 for displaying the number of packages in segments, for example.

Next, the control of the vibration output of the piezoelectric elements 47A, 47B in the powdered medicine supply devices 8A, 8B of this embodiment will be described.

For the control of the vibration output of the piezoelectric elements 47A, 47B, the control device 15 has: an automatic mode for automatic control according to the detection output of the vibration sensor 48; the operator operates the adjustment knobs 101A, 101B of the operation panel Manual mode for setting. Unless the adjustment knobs 101A, 101B are operated, the vibration output of the piezoelectric elements 47A, 47B is controlled in an automatic mode.

The principle of the automatic mode in this embodiment will be described. When the vibration output of the piezoelectric elements 47A, 47B is maintained at a constant value, the faster the powdered medicine falls from the front end 22a due to the conveyance on the hopper 22, the faster the weight of the whole chute 22 including the powdered medicine will be. The faster the reduction speed, the faster the reduction speed of the voltage value to be applied to the piezoelectric elements 47A, 47B is. On the contrary, since the slower the speed of the powdered medicine conveyed on the hopper 22, the slower the reduction rate of the overall weight of the hopper 22 including the powdered medicine is, so in order to maintain a certain vibration output, it is necessary to adjust the piezoelectric element 47A, The decreasing speed of the voltage value applied by 47B is also slowed down. When the vibration output of the piezoelectric elements 47A, 47B is maintained at a constant value in this way, the conveyance speed of the powdered medicine on the hopper 22 is correlated with the time change of the voltage applied to the piezoelectric elements 47A, 47B. Therefore, the control device 15 can control the applied voltage to the piezoelectric elements 47A, 47B to keep the vibration output at a constant value based on the detection output of the vibration sensor 48, and the inspection at each constant time interval (for example, an interval of 15 seconds) During the time, the temporal change of the voltage applied to the piezoelectric elements 47A, 47B was examined. And, when the reduction speed of the applied voltage is greater than the target value (the conveying speed of the powdered medicine on the hopper 22 is faster than the target value), the vibration output of the piezoelectric elements 47A, 47B is reduced, and when the reduction speed of the applied voltage is faster than the target value, When it is small (the conveyance speed of the powdered medicine on the chute 22 is slower than the target value), the vibration output of the piezoelectric elements 47A and 47B is increased.

An example of the automatic mode will be described with reference to FIG. 9 . In FIG. 9 , V represents the voltage applied to the piezoelectric elements 47A, 47B, and L represents the vibration level as the vibration output of the piezoelectric elements 47A, 47B. The vibration level is set at intervals from several decibels to several tens of decibels, and the vibration output of the piezoelectric elements 47A, 47B increases as the vibration level increases. These points are also the same in FIGS. 10 and 11 described later.

When start switch 108 is operated at time t0, control device 15 increases the voltage value applied to piezoelectric elements 47A, 47B until the vibration level reaches the initial value (vibration level "8" in this example). When the vibration level reaches the initial value at time t1, control device 15 adjusts the voltage applied to piezoelectric elements 47A, 47B so as to maintain the vibration level. At time t2 at which a predetermined time α has elapsed from time t1 , control device 15 checks the rate of decrease in voltage applied to piezoelectric elements 47A, 47B from time t1 to time t2 . As shown by the thick solid line, the vibration level can be maintained as long as the decrease speed of the voltage value is the target value. However, when the decreasing speed of the voltage is lower than the target value as shown by the thin solid line, since the conveying speed of the powdered medicine on the chute 22 is lower than the target value, the vibration level is increased by one step. Set to "9", and adjust the voltage applied to the piezoelectric elements 47A, 47B so as to maintain the vibration level. Conversely, when the decreasing speed of the voltage is higher than the target value as shown by the dotted line, since the conveying speed of the powdered medicine on the chute 22 is higher than the target value, the vibration level is lowered by one level and set to "7", the voltage applied to the piezoelectric elements 47A, 47B is adjusted so as to maintain the vibration level. Thereafter, at each time t3, t4, .

When the operator operates the adjustment knob 101A during execution of the automatic mode, the control of the vibration output of the piezoelectric elements 47A, 47B included in the corresponding powdered medicine supply device 8A shifts to the manual mode. Also, in the manual mode, when the operator operates the automatic mode return switch 102A, the control device 15 returns the control of the vibration output of the piezoelectric elements 47A, 47B included in the corresponding powdered medicine supply device 8A from the manual mode to the automatic mode.

Referring to Fig. 10, until time t2' is the automatic mode, and the vibration level remains at "8". When the operator manipulates the adjustment knob 101A of the operation panel 16 to set the vibration level to "11" at time t2', the control device 15 receiving the command input from the adjustment knob 101A makes the piezoelectric element 47A, The applied voltage of 47B rises instantaneously, and the vibration level of piezoelectric elements 47A and 47B included in corresponding powdered medicine supply device 8A becomes "11". From time t2', the control device 15 adjusts the voltage applied to the piezoelectric elements 47A, 47B based on the detection output of the vibration sensor 48, so that the manually set vibration level "11" is maintained. When at time t3', the operator operates the automatic mode return switch 102A of the operation panel 16 to input a return command, the control device 15 that receives the return command maintains the vibration level "11" at that time until the time of the next inspection time t4. From time t4, the automatic mode is turned on again using the vibration level "11" as a reference. Specifically, at time t4, the rate of decrease of the voltage applied to piezoelectric elements 47A, 47B from time t3 to time t4 is checked, and the vibration levels of piezoelectric elements 47A, 47B are adjusted accordingly. Make adjustments. In the example of FIG. 10 , since the decrease speed is greater than the target value, the vibration level is set to "10" by decreasing by one level. In this way, when returning from the manual mode to the automatic mode, after maintaining the vibration level for a predetermined time, by shifting to the automatic mode based on the vibration level, it is possible to prevent the piezoelectric elements 47A, 47B from being damaged when returning from the manual mode to the automatic mode. The output changes drastically. Therefore, it is possible to return from the manual mode to the automatic mode without rapidly increasing or decreasing the supply amount of the powdered medicine to the disc 6 .

Referring to Fig. 11, until time t2' is the automatic mode, and the vibration level remains at "8". When the vibration level is set to "5" by means of the adjustment knob 101A at time t2', the control device 15 momentarily reduces the voltage applied to the piezoelectric elements 47A, 47B to set the vibration level to "5". From time t2', the voltage applied to the piezoelectric elements 47A, 47B is adjusted based on the detection output of the vibration sensor 48, and the manually set vibration level "5" is maintained. When the operator operates the automatic mode return switch 102A to input a return command at time t3', the control device 15 maintains the vibration level "5" at that time until time t4 of the next inspection time. From time t4, the automatic mode is turned on again using the vibration level "5" as a reference. Specifically, at time t4, the rate of decrease of the voltage applied to piezoelectric elements 47A, 47B from time t3 to time t4 is checked, and the vibration of piezoelectric elements 47A, 47B is adjusted accordingly. level to adjust. In the example of FIG. 11 , since the decrease speed is smaller than the target value, the vibration level is increased by one level and set to "6".

In this way, in the powdered medicine supplying devices 8A, 8B of this embodiment, the output of the piezoelectric elements 47A, 47B that vibrate the hopper 22 can be switched from the automatic mode to the manual mode by operating the adjustment knobs 101A, 101B. Also, the vibration level in manual mode can be adjusted manually. Also, by operating the adjustment knobs 101A, 101B and the automatic mode return switches 102A, 102B, the control of the vibration output of the piezoelectric elements 47A, 47B can be freely switched to either automatic mode or manual mode.

The present invention is not limited to the embodiments described above, and various modifications can be made. For example, the automatic mode is not limited to the aforementioned modes, and it is sufficient to automatically control the vibration output of the piezoelectric elements 47A and 47B at least based on the detection output of the vibration sensor 48 . In addition, vibration may be applied to the tank by an element or device other than a piezoelectric element. Also, in the above-described embodiment, the adjustment knobs 101A, 101B have both the function of switching to the manual mode and the function of setting the vibration level in the manual mode, but these may be provided in different switches. Function. Also, in the above-mentioned embodiment, the switching from the manual mode to the automatic mode is performed using the dedicated automatic mode return switches 102A, 102B, but, for example, in two aspects of simultaneously operating the off switches 106A, 106B and the on switches 107A, 107B In this case, it is also possible to make a structure to switch from the manual mode to the automatic mode.

[explanation of the symbol]

1—powder medicine distribution department; 2—powder medicine packaging department; 3—opening and closing door; 4—device body; 5—platform; 6, 7—disk; 8A, 8B—powder medicine supply device; Device; 10—peripheral trough; 11, 12—drive motor; 15—control device; 16—operating panel; 20—machine base; 21—hopper; 21a—upper opening; 21b—lower opening; Front end; 23—hopper support portion; 23a—hopper support frame; 23b—support arm; 23c—auxiliary arm; 25—pedestal portion; 27—rotating portion; 29—cam follower; 31—cam; 33—angle control motor; 33a—rotating shaft; 34—angle stop sensor; 35—magnet; 36—non-detection part; 37—Hall element; 38—hopper striking mechanism; 39—electromagnet; 39a—output shaft; 40—hopper striking member; 41 —Material trough support member; 42—hammer member; 43—vibration generating mechanism; 44—spring; 45—bracket; 46—fixed block; 47A, 47B—piezoelectric element; 48—vibration sensor; 49—weight; —Dropped medicine drop detection sensor; 51A, 51B, 51C, 51D—D/A converter; 52A, 52B, 52C—A/D converter; 60—personal computer; 61—fixed block; 101A, 101B—adjustment knob; 102A, 102B—automatic mode recovery switch; 103A, 103B—level meter; 104A, 104B—action light;

Claims (3)

1. A powdered medicine supply device having: a vibration generator that vibrates a hopper to convey the powdered medicine that falls from a hopper to said hopper to a supply object; a vibration generator that detects the vibration output of the vibration generator Vibration detector; Can carry out at least according to the control part of the automatic mode that the vibration output of described vibration generator is controlled according to the detection output by this vibration detector, it is characterized in that, There is a manual mode switcher for switching from the automatic mode to the manual mode and setting the vibration output of the vibration generator in the manual mode, The control part, when receiving an instruction from the manual mode switcher, can perform the detection output according to the vibration detector, control the vibration output of the vibration generator to maintain the setting using the manual mode switcher. Manual mode with a defined vibration intensity. 2. The powder medicine supply device according to claim 1, wherein: It also has an automatic mode return instruction device for instructing to return from the manual mode to the automatic mode, The control unit switches control of the vibration output of the vibration generator from the manual mode to the automatic mode when receiving an instruction from the automatic mode return command unit. 3. The powdered medicine supplying device according to claim 2, wherein when the control unit receives an instruction from the automatic mode return instruction device in the manual mode, it will return the instruction immediately after receiving the instruction. After the vibration intensity is maintained for a specified time, the automatic mode is turned on again with the vibration intensity as a reference value.

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