CN115230843A - An agricultural mobile platform with variable wheelbase and conformal vibration reduction - Google Patents

Abstract

The invention relates to the technical field of an agricultural mobile platform. The purpose is to provide an agricultural platform with variable wheel spacing and conformal vibration reduction, which is suitable for dryland ridge crops or greenhouse seedling raising. The mobile platform can not only expand the scope of operation objects, but also effectively reduce the labor burden of the majority of workers, and is also conducive to the development of modern agriculture. The technical solution is an agricultural mobile platform with variable wheelbase and conformal vibration reduction, comprising a frame, wheels arranged under the frame, an electric control box and a battery arranged on the frame; it is characterized in that: the platform also Including two variable wheel base modules arranged horizontally at the front and rear ends of the frame for adjusting the wheel base, respectively slidably positioned at both ends of each variable wheel base module and provided with the wheels The independent drive and steering module and the navigation device installed on the upper part of the frame are used to collect the position information of the agricultural mobile platform.

Description

An agricultural mobile platform with variable wheelbase and conformal vibration reduction

technical field

The invention relates to the technical field of agricultural mobile platforms, in particular to an agricultural mobile platform with variable wheelbase and conformal vibration reduction.

Background technique

With the development of agricultural modernization, field management and operation machinery is of great significance to promoting the stable development of my country's modern agriculture. As of 2021, the planting area of dry land in my country has reached 965 million mu, accounting for 50.33% of the total cultivated land area; while spraying, fertilizing, pollinating and other operations for different crops, different row spacings and different periods in ridges and meeting the driving environment of ridges are required. The research on agricultural mobile platform is very lacking at present. In addition, in addition to being outdoors, for greenhouse seedlings, a mobile platform that can adapt to different seedbed sizes and meet the uneven use of traditional seedlings is also required, and assists in manually completing the complicated work of greenhouse seedlings. In view of the above situation, it is extremely necessary to start the research on an agricultural mobile platform with variable wheelbase and conformal vibration reduction.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the above-mentioned background technology, and to provide an agricultural platform with variable wheel spacing and conformal vibration reduction suitable for both dryland ridge crops or greenhouse seedling raising. The mobile platform can not only expand the scope of operation objects, but also effectively reduce the labor burden of the majority of workers, and is also conducive to the development of modern agriculture.

The technical scheme provided by the present invention is:

An agricultural mobile platform with variable wheel base and conformal vibration reduction, comprising a frame, wheels arranged under the frame, an electric control box and a battery arranged on the frame; characterized in that: the platform further comprises horizontal Two variable track modules arranged at the front and rear ends of the frame for adjusting the wheel track, respectively slidably positioned at both ends of each variable track module with independent drives for the wheels The steering module and the navigation device installed on the upper part of the frame are used to collect the position information of the agricultural mobile platform.

The variable wheel base module includes a cavity formed by a cover plate and a groove plate connected to the frame, two telescopic shafts slidably positioned in the cavity through the sliding table structure and arranged coaxially, respectively installed in the cavity. The upper side of the cover supports two drive modules at the top of the protective cover and two transmission assemblies respectively transmitting the power of the drive modules to the corresponding telescopic shafts.

The transmission assembly includes a driving gear driven by the drive module and a driven gear driven by the transmission gear, and each gear shaft in the transmission assembly is mounted on the cover plate through bearings and protected by the support shield; wherein The driving gear shaft and the driven gear shaft are further connected to a rack and gear downward through the cover plate.

The upper and lower sides of the telescopic shaft are respectively fixed with slide bars parallel to the length direction of the telescopic shaft, and the inner surface of the cover plate and the bottom surface of the groove plate are respectively fixed to slide tables that are slidably matched with the two slide bars.

Two mutually parallel racks are symmetrically installed on both sides of the telescopic shaft in the width direction. The gears mesh one by one.

The drive module includes a worm gear reducer mounted on the support shield and a servo motor for driving the worm gear reducer; the output shaft of the worm gear reducer extends vertically downward into the support shield and the drive gear. shaft for power transmission.

The independent drive and steering module includes a load-bearing support whose top end is fixed to the end of the telescopic shaft, a drive support frame positioned at the bottom end of the load-bearing support rotatably around the vertical axis, a stepper motor positioned on the load-bearing support, and a stepper motor. A planetary reducer driven by the motor and driving the drive carrier to rotate, and a quadrilateral drive assembly mounted on the lower part of the drive carrier and provided with the wheels.

The quadrilateral drive assembly includes a drive receiving frame which is hinged end to end to form a parallelogram mechanism through hinges, two connecting plates and a configuration plate of the same length, and a conformal shock absorber hinged with the drive receiving frame and the configuration plate at both ends; The wheel is an in-wheel motor driving wheel connected with the configuration board.

An in-situ sensor and an end-position sensor are installed on the inner wall of the cavity to detect the extension length of each telescopic shaft, and a position probe matched with the in-situ sensor and the end-position sensor is installed at the tail of each telescopic shaft to ensure The structural stability of the mobile platform; an angle sensor for detecting the rotation angle of the load-bearing bracket is installed on the load-bearing bracket.

The main electric control box is installed with a main control board that is electrically connected to each motor driver, each sensor data box and each camera, and the auxiliary electric control box is installed with each motor driver, each sensor data box, a position module, a remote control module, an energy source module.

The two navigation cameras are respectively installed in the middle position of the third aluminum profile, the two electric control boxes are respectively installed in the middle position of the first aluminum profile, and the four groups of batteries are installed on the first aluminum profile two by two.

Beneficial effects of the present invention:

The agricultural mobile platform with variable wheel base and conformal vibration damping provided by the present invention adopts a rack and pinion to drive the telescopic shaft to extend or retract, adopts the mode of four-wheel independent driving and steering, adopts conformal shock absorber and The method of connecting the driving wheels, and collecting the operating environment information through two navigation cameras, after the analysis of the main control board, the driver controls the operation of each motor, so that the agricultural mobile platform can move autonomously along the edge of the ridge where the crops are located and target different crops. Different ridge widths are independently adjusted (expanding the scope of the operation object), so as to realize the stability, accuracy and adaptability of the agricultural mobile platform during the traveling process. In addition, the present invention can be equipped with different agricultural robots to perform operations such as spraying, fertilizing, and harvesting on ridge crops with different ridge widths. It is also suitable for greenhouse seedbeds, and the cultivation of seedbeds of different sizes can not only effectively improve the economic benefits of various agricultural crops, but also reduce the labor burden for the majority of working people.

Description of drawings

FIG. 1 is a schematic three-dimensional structure diagram of an embodiment of the present invention.

FIG. 2 is a schematic diagram of a variable wheel base effect in an embodiment of the present invention.

FIG. 3 is a schematic diagram of a variable wheel base module in an embodiment of the present invention.

FIG. 4 is one of the structural schematic diagrams of the telescopic shaft in the variable wheel base module shown in FIG. 3 .

FIG. 5 is the second schematic diagram of the structure of the telescopic shaft in the variable wheel base module shown in FIG. 3 .

FIG. 6 is a schematic diagram of the installation structure of the drive module in the variable wheel base module shown in FIG. 3 .

FIG. 7 is a schematic diagram of the installation structure of the transmission assembly in the drive module shown in FIG. 6 .

FIG. 8 is a schematic diagram of the installation position of the sensor in the variable wheel base module shown in FIG. 3 .

FIG. 9 is a schematic three-dimensional structural diagram of an independent driving and steering module according to an embodiment of the present invention.

FIG. 10 is a schematic diagram of the installation structure of the angle sensor in the independent drive and steering module shown in FIG. 9 .

FIG. 11 is a schematic diagram of the structure in the direction A-A in FIG. 10 .

FIG. 12 is a schematic three-dimensional structure diagram of the drive receiving frame in FIG. 9 .

FIG. 13 is a schematic diagram of vibration reduction effects according to different terrains in an embodiment of the present invention.

Reference number:

01-frame, 0101-first aluminum profile, 0102-second aluminum profile, 0103-third aluminum profile, 0104-fourth aluminum profile, 02-main electrical control box, 0201-secondary electrical control box, 03-battery , 04-Navigation device, 0401-Navigation camera, 0402-YZ-direction rotating platform, 05-Variable wheel base module, 0501-Groove plate, 0502-Cover plate, 0503-Servo motor, 0504-Worm gear reducer, 0505 -Worm gear reducer seat cushion, 0506-support shield, 0507-drive gear shaft, 0508-drive gear, 0509-drive gear shaft bearing, 0510-rack gear, 0511-first drive gear shaft, 0512-first Transmission gear, 0513-first transmission gear shaft bearing, 0514-second transmission gear shaft, 0515-second transmission gear, 0516-second transmission gear shaft bearing, 0517-driven gear shaft, 0518-driven gear, 0519 - driven gear shaft bearing, 0520- rack, 0521- telescopic shaft, 0522- upper slide, 0523- upper slide, 0524- lower slide, 0525- lower table, 0526- home position sensor, 0527- end position sensor , 0528-position probe, 06-independent drive and steering module, 0601-load bearing, 0602-stepper motor, 0603-planetary reducer, 0604-rotating shaft, 0605-hexagon nut, 0606-spring washer, 0607- Thrust bearing, 0608-upper bearing end cover, 0609-deep groove ball bearing, 0610-lower bearing end cover, 0611-measuring gear, 0612-angle sensor, 0613-measuring pinion, 0614-drive adapter, 0616-spring Shock absorber, 0617-wheel, 0618-configuration plate, 0619-connection plate.

Detailed ways

Further description will be given below in conjunction with the embodiments shown in the accompanying drawings.

The variable wheelbase and vibration-damping agricultural mobile platform shown in the accompanying drawings includes a frame 01, wheels arranged under the frame, an electric control box and a battery 03 (preferably a lead-acid battery) arranged on the frame; it also includes Two variable wheel base modules 05 arranged horizontally at the front and rear ends of the frame for adjusting the wheel base, respectively slidably positioned at both ends of each variable wheel base module and equipped with the wheels The independent drive and steering module 06 and the navigation device 04 installed on the upper part of the frame are used to collect the position information of the working environment of the agricultural mobile platform.

The racks shown in Figures 1 to 2 are constructed of aluminum profiles of different types and sizes. The first aluminum profile 0101 is installed along the X direction, and its end is in line with the groove plate 0501 of the variable wheel base module 05. The connection is rectangular, the second aluminum profile 0102 is installed on both ends of the first aluminum profile along the Z direction, the third aluminum profile 0103 is respectively installed on the second aluminum profile on the side along the Y direction, and the fourth aluminum profile The profiles 0104 are respectively installed on the second aluminum profiles along the X direction; the navigation device includes a YZ-direction rotating platform 0402 (outsourced part) and a navigation camera 0401 installed on the YZ-direction rotating platform. The YZ-direction rotating platform can be rotated around the Z-axis and the Y-axis at a certain angle to adjust the optimal navigation angle of the navigation camera 0401; and is fixed at the middle position of the third aluminum profile by bolts. The main electric control box and the auxiliary electric control box are respectively installed in the middle of the first aluminum profile, and are respectively fixed with the fourth aluminum profile, and the four groups of batteries are also installed on the first aluminum profile and fixed with the fourth aluminum profile .

As shown in Figures 3 to 6; the variable wheel base module 05 is horizontally arranged along the width direction of the frame (the length direction of the variable wheel base module is parallel to the width direction of the frame); wherein: the groove plate 0501 and the first The ends of an aluminum profile are connected, and the cover plate 0502 cooperates with the groove plate to form the cavity of the variable wheel spacing module. , and each drive module drives the telescopic shaft through a transmission assembly. Two coaxial and horizontally arranged telescopic shafts 0521 are slidably inserted into the cavity through the sliding table structure, and one end of each telescopic shaft protrudes out of the cavity for connecting the independent drive and steering module 06 (as can be seen in Figure 3 ) : One end of the two telescopic shafts protrudes from the left and right ends of the cavity respectively). The sliding table structure includes an upper sliding bar 0522 and an upper sliding table 0523 matched with the upper sliding bar, and a lower sliding bar 0524 and a sliding table 0525 matched with the lower sliding bar; the upper sliding bar is installed on the upper end of the telescopic shaft, and the upper sliding table is installed On the lower surface of the cover plate, the sliding direction of the upper slider is consistent with the length direction of the telescopic shaft; The sliding direction is consistent with the length direction of the telescopic shaft. The above sliding table structure can ensure that the telescopic shaft can perform telescopic translation movement in a smoother manner while being stressed. It can be seen from FIG. 7 and FIG. 8 that two racks 0520 parallel to each other are symmetrically installed on both sides of the telescopic shaft in the width direction.

The drive module is composed of a servo motor 0503 and a worm gear reducer 0504 to provide power for driving the telescopic shaft; the drive module is installed on the support shield 0506 through the worm gear reducer seat cushion 0505. The support shield is installed on the cover plate; the transmission assembly (see FIG. 7 ) is installed in the support shield, and the support shield provides support and protection for the transmission assembly. The transmission assembly includes a driving gear shaft 0507 equipped with a driving gear 0508, a first transmission gear shaft 0511 equipped with a first transmission gear 0512, a second transmission gear shaft 0514 equipped with a second transmission gear 0515, and a driven gear 0518 The driven gear shaft 0517 and two rack gears 0510 installed on the lower end of the driving gear shaft and the lower end of the driven gear shaft; 0513, the second transmission gear shaft bearing 0516, the driven gear shaft bearing 0519) are vertically installed on the support shield.

As shown in FIGS. 6 to 7 , the output shaft of the worm gear reducer goes down through the support shield and is connected with the drive gear shaft (preferably through a coupling), thereby driving the drive gear; the drive gears are sequentially After the first transmission gear and the second transmission gear are meshed with the driven gear, the main and driven gears have the same rotational speed and opposite directions; the rack gear 0510 installed at the lower end of the main and driven gear shafts can be The corresponding racks 0517 are engaged, thereby driving the telescopic shaft to move horizontally in the width direction of the moving platform. When the two telescopic shafts in each variable wheel base module move towards each other, the two independent drive and steering modules with wheels approach each other; when the two telescopic shafts in each variable wheel base module move towards each other , the two independent drive and steering modules with wheels are separated from each other.

Further, in order to ensure the structural stability of the mobile platform, a home position sensor 0526 and an end position sensor 0527 (see FIG. 8 ) corresponding to each telescopic shaft are installed on the groove plate. The original and last position sensors are used to detect the maximum pitch position of the telescopic shaft when the wheelbase is changed and the position information when it is reset; a position probe 0528 is installed at the tail of the telescopic shaft. When the telescopic shaft is in the original position, the position probe The slice is inside the home sensor. The telescopic shaft can extend out a certain length according to the operation requirements, and then the drive module stops the power output, and uses the self-locking property of the worm gear reducer to fix the telescopic shaft to prevent sliding; in order to ensure the structural stability of the mobile platform, The straight-line distance between the original and last position sensors is 2/3 of the length of the telescopic shaft. When the position probe reaches the last position sensor, the telescopic shaft reaches the maximum variable distance position.

As shown in FIGS. 9 to 12 , the top of the independent drive and steering module 06 is a load-bearing bracket 0601 connected with the telescopic shaft through bolts, and the stepper motor 0602 used to provide steering power is installed in conjunction with the planetary reducer 0603 in a load bearing bracket. The drive bearing frame 0614 passes through the bearing assembly (including the thrust bearing 0607 which is sequentially installed at the bottom of the load-bearing bracket to bear the axial force, the upper bearing end cover 0608 for bearing against the thrust bearing, and the bearing for bearing the radial force. The deep groove ball bearing 0609, the lower bearing end cover 0610 used to withstand the deep groove ball bearing, the lower bearing end cover is installed on the drive bearing frame 0614) is installed with a vertically arranged rotating shaft 0604, the upper end of the rotating shaft Made with external threads, the rotating shaft is fixed on the load-bearing bracket through the hexagonal nut 0605 and the spring washer 0606, and is coaxially matched with the output shaft of the planetary reducer. Thus, the connection and relative rotation of the load-bearing bracket and the drive bearing frame through the bearing assembly are realized. An angle sensor 0612 is also installed on the load-bearing bracket, a measuring pinion 0613 is fixed on the input shaft of the angle sensor, and a measuring large gear 0611 is fixed on the upper end of the rotating shaft, and the large gear meshes with the pinion; When the output shaft of the planetary reducer drives the rotating shaft to rotate, the large gear meshes with the small gear, and the angle sensor detects the rotation angle of the rotating shaft and transmits the signal to the main control board.

As shown in FIG. 9 and FIG. 12 , the drive receiving frame is installed with a pair of conformal shock absorbers for improving the ride comfort of the agricultural mobile platform. The in-wheel motor drive wheel 0617 is connected with the drive bearing frame 0614 through a parallelogram mechanism, and the conformal shock absorber is installed between the in-wheel motor drive wheel and the drive bearing frame. It can be seen from Fig. 12 that the drive receiving frame, the configuration plate 0618 and the two connecting plates 0619 arranged in parallel to each other form a parallelogram mechanism by hinged connection; The configuration plate is hinged, and the hub motor drive wheel is bolted to the configuration plate. Thus, it is ensured that the axis of the driving wheel of the hub motor is always parallel to the horizontal plane during the driving process. The conformal shock absorber is an outsourced spring shock absorber 0616, which is used to absorb the impact from the road surface. When the wheel passes the road surface in a concave or convex state, the inner spring of the spring shock absorber is stretched or compressed. Filters vibrations from the road surface to improve ride stability.

The main and auxiliary electric control boxes are installed and fixed on the rack, and are installed with a main control board for receiving, processing and issuing command information, a driver for controlling the movement of each motor, and a data box for receiving the information of each sensor. , a location module for receiving location information from a navigation camera, a remote control module for adapting remote control operations, and an energy module for distributing batteries. The main control board is installed in the main control electric control box, and the main electric control box also has a one-key start, stop, continue function button and an emergency stop button. When the emergency stop button is pressed, the entire mobile platform is powered off; The driver, data box, position module, remote control module, and energy module are installed in the sub-electric control box; all the aforementioned devices exchange information through various data lines (wired and wireless). The above-mentioned data box, position module, remote control module, energy module, driver and main control board are all purchased parts that can be directly applied, so the working principle will not be described in detail.

The agricultural mobile platform with variable wheel base and conformal vibration damping provided by the present invention can be applied to the planting scenarios of various dryland ridge crops. Fertilization, harvesting and other links, in addition, the variable wheel base module can be used to adapt to crops with different ridge widths, especially after the conformal vibration reduction design is adopted, the stability of the walking process can be greatly improved. In addition, the agricultural mobile platform is not only suitable for outdoor use, but also suitable for greenhouse seedling breeding scenarios, showing great adaptability. Four independent drive and steering modules can achieve 90° clockwise and counterclockwise rotation. The mobile platform can also achieve autonomous forward and backward, left and right translation motion effects through independent drive and rotation modules, so as to meet different scenarios encountered in the operation process.

The operation process of the present invention includes the following steps:

Step 1: In the early stage, the agricultural mobile platform can be moved to the operation area through the remote control module, and the mobile platform can be switched to the autonomous walking mode after preparing for the relevant operations;

Step 2: The navigation camera obtains the information on the width and distance of the crop ridge and sends it to the main control board. The main control board sends an instruction to the driver according to the received information, and the driver controls the corresponding motor, so that the agricultural mobile platform moves smoothly along the direction of the ridge;

Step 3: When the agricultural mobile platform autonomously moves to the end of the ridge, if the site allows, take the positive X direction as the front, the right front and left rear wheels are rotated 90 degrees counterclockwise, and the left front and right rear wheels are rotated 90 degrees clockwise. °, translate to the next ridge, after the above-mentioned four-wheel reset, continue the operation in the reverse direction; if the site does not allow, return directly along the ridge in the reverse direction, return to the initial position and then translate, and then continue along the next ridge work, repeat the above operations;

Step 4: When the agricultural platform detects that the wheelbase needs to be changed through the navigation camera, the right front and left rear wheels are rotated 90° counterclockwise, and the left front and right rear wheels are rotated 90° clockwise. Driven by the servo motor in the variable wheelbase module Down, the four wheels move a certain distance along the direction of the telescopic axis even in the Y direction to adapt to the width of the crop ridge, and when the wheel base changes are completed, the four wheels reset;

Step 5: During the autonomous mobile driving process of the agricultural mobile, the main control board can control the steering motor through the driver to automatically adjust the yaw phenomenon during the driving process according to the position information transmitted by the navigation camera;

Step 6: The agricultural mobile platform adapts to different ridge widths through variable wheel bases, realizes translation changes through steering modules, switches to different ridges and continues to operate, and so on and so forth until all ridge operations are completed.

Claims (10)

1. A variable wheel track and conformal vibration reduction agricultural mobile platform comprises a rack (01), wheels (0617) arranged below the rack, an electric cabinet and a battery (03) arranged on the rack; the method is characterized in that: the platform further comprises two variable wheel track modules (05) which are horizontally arranged at the front end and the rear end of the rack respectively and used for adjusting wheel tracks, independent driving and steering modules (06) which are slidably positioned at the two ends of each variable wheel track module respectively and are provided with wheels, and a navigation device (04) which is arranged at the upper part of the rack and used for collecting position information of the agricultural mobile platform.

2. A variable track and compliant vibration damped agricultural mobile platform according to claim 1, characterized in that: the variable wheel track module comprises a cavity formed by a cover plate (0502) and a groove plate (0501) and connected to the frame, two telescopic shafts (0521) which are positioned in the cavity in a sliding mode through a sliding table structure and are coaxially arranged, two driving modules which are respectively installed at the top end of a supporting protective cover (0506) on the upper side of the cover plate, and two transmission assemblies which respectively transmit the power of the driving modules to the corresponding telescopic shafts.

3. A variable track and compliant vibration damped agricultural mobile platform according to claim 2, characterized in that: the transmission assembly comprises a driving gear (0508) driven by the driving module and a driven gear (0518) driven by the driving gear, and each gear shaft in the transmission assembly is respectively arranged on the cover plate through a bearing and is surrounded and protected by the supporting protective cover (0516); the driving gear shaft and the driven gear shaft further penetrate through the cover plate downwards to be connected with a rack gear (0510) respectively.

4. A variable track and compliant vibration damped agricultural mobile platform according to claim 3, characterized in that: the upper side and the lower side of the telescopic shaft are respectively fixed with a sliding strip parallel to the length direction of the telescopic shaft, and the inner side surface of the cover plate and the bottom surface of the groove plate are respectively fixed with two sliding tables in sliding fit with the sliding strips one by one.

5. A variable track and compliant vibration damped agricultural mobile platform according to claim 4, wherein: two parallel racks (0520) are symmetrically arranged on two sides of the telescopic shaft in the width direction and are respectively meshed with a rack gear connected with the driving gear and the gear shaft of the driven gear one by one.

6. A variable track and compliant vibration damped agricultural mobile platform according to claim 5, characterized in that: the driving module comprises a worm and gear reducer (0504) mounted on the support shield and a servo motor (0503) driving the worm and gear reducer; and an output shaft of the worm gear speed reducer vertically extends downwards into the supporting protective cover to perform power transmission with the driving gear shaft.

7. A variable track and compliant vibration damped agricultural mobile platform according to claim 6, wherein: the independent driving and steering module comprises a bearing support (0601) with the top end fixed with the end part of the telescopic shaft, a driving bearing frame (0614) capable of being positioned at the bottom end of the bearing support in a rotating mode around a vertical axis, a stepping motor (0602) positioned on the bearing support, a planetary reducer (0603) driven by the stepping motor and driving the driving bearing frame to rotate, and a quadrilateral driving assembly which is arranged at the lower part of the driving bearing frame and provided with wheels.

8. A variable track and compliant vibration damped agricultural mobile platform according to claim 7, characterized in that: the quadrilateral driving component comprises a driving bearing frame (0614), two connecting plates (0619) and a configuration plate (0618) which are hinged end to end in sequence through hinges to form a parallelogram mechanism, and a conformal shock absorber with two ends hinged with the driving bearing frame and the configuration plate respectively; the wheel is a wheel hub motor driving wheel connected with the configuration plate.

9. A variable track and compliant vibration damped agricultural mobile platform according to claim 8, wherein: an in-situ sensor (0526) and a last sensor (0527) for detecting the extension length of each telescopic shaft are installed on the inner wall of the cavity, and a position detecting piece (0528) matched with the in-situ sensor and the last sensor is installed at the tail of each telescopic shaft to ensure the structural stability of the mobile platform; and an angle sensor (0612) for detecting the rotation angle of the bearing support is arranged on the bearing support.

10. A variable track and compliant vibration damped agricultural mobile platform according to claim 9, wherein: the main electric control box is provided with a main control board which is electrically connected with each motor driver, each sensor data box and each camera, and the auxiliary electric control box is provided with each motor driver, each sensor data box, a position module, a remote control module and an energy module.

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