CN104868184A - Battery online dynamic matching optimization method and system facing to separation-type assembly line - Google Patents
Battery online dynamic matching optimization method and system facing to separation-type assembly line Download PDFInfo
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- CN104868184A CN104868184A CN201510229019.8A CN201510229019A CN104868184A CN 104868184 A CN104868184 A CN 104868184A CN 201510229019 A CN201510229019 A CN 201510229019A CN 104868184 A CN104868184 A CN 104868184A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/4207—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells for several batteries or cells simultaneously or sequentially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/344—Sorting according to other particular properties according to electric or electromagnetic properties
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/4285—Testing apparatus
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Manufacturing & Machinery (AREA)
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Abstract
The invention discloses a battery online dynamic matching optimization method and system facing to a separation-type assembly line. The matching optimization system comprises a machine frame, a main control computer, a first minimum mechanism unit, a second minimum mechanism unit, and a conveyor belt; the conveyor belt is erected on the upper slope surface of the machine frame so as to form a feeding region; and the first minimum mechanism unit, the second minimum mechanism unit and a connecting chute for connecting two minimum mechanism units are erected on the lower slope surface of the machine frame so as to form a matching region. The matching optimization method based on the matching optimization system comprises the steps of battery allocation, battery selection, battery convergence and the like. The battery matching method and system are capable of performing the continuous online matching optimization in the manner of assembly line automation, and improving the matching efficiency, matching success rate and matching quality of the battery.
Description
Technical field
The present invention relates to battery detecting, sorting, combo optimisation technique field, be specifically related to a kind of battery towards sorting type streamline online dynamically combo optimization method and system.
Background technology
Electrokinetic cell needs to use in groups usually; due to the restriction of production technology level; even the product of same batch; also the difference in some performances can be there is between single battery; in use procedure in groups, often can find wherein have a batteries performance to fall behind; and whole Battery pack performance (as capacity) is obviously declined; and this phenomenon can be more and more obvious along with increasing of access times (time); mileages of continuation requirement can not be met, thus make whole Battery pack scrap or change.This phenomenon is called inconsistent performance (capacity) relaxation phenomenon caused of performance.This phenomenon can add the use cost of large user; Cause the height return of goods rate of battery manufacture producer, the image product of whole manufacturer also can be made to be affected; Therefore it has significant impact to the healthy and stable development of whole electric motor car industry.On the contrary, the consistency in a Battery pack between every batteries is better, then can make significantly improve the useful life of this battery pack.Therefore increasing car load manufacturer and battery manufacture producer all recognize the importance and necessity of battery detecting combo.Successively all using battery detecting combo as vital quality control step.Electrokinetic cell requires to detect the feature that combo supply has become electric bicycle battery or other electrokinetic cells.Current common battery detecting method for group matching is after battery manufacture is good, first detect performance parameter or the performance curves such as the voltage of battery, resistance, capacity, then according to some or certain performance parameter or performance curve wherein, carry out calculating, compare and analyze, by dividing into groups and screening that performance is joined close to some batteries of (in some error ranges) is one group, make battery pack have good consistency.
Detection method for group matching as current power batteries for bicycle is: first the battery that will carry out detecting combo is first charged to saturated, then in the battery of same road, carry out (as 18 joints or 16 joints) constant-current discharge of connecting, when discharging close to latter stage (be generally single battery average voltage and equal 10.8 volts), with the voltage of equipment simultaneously limnograph or the artificial every batteries of surveying record successively, finally magnitude of voltage deviation within the specific limits carry out combo, this mode is being continued to use by battery production enterprise and battery applying unit always, there is process complicated and time consumption, streamline cannot be realized and detect combo, combo efficiency and the shortcoming such as combo is of low quality.
Design a kind of battery towards sorting type streamline online dynamically combo optimization method and system for this reason, realize carrying out the optimization of continuous on-line detection combo to difference batch, the different battery required with the form of streamline automation, effective improvement existing method for group matching efficiency is low, human error large, process complicated difficult controls, the problems such as combo degree of optimization is low, improve the combo efficiency of battery, combo success rate, combo quality and whole service life, therefore its application prospect widely.
Summary of the invention
For solving the problems such as existing method for group matching combo efficiency is low, of low quality, the invention provides a kind of battery towards sorting type streamline online dynamically combo optimization method and system, the technical scheme of employing is as follows:
The online dynamically combo optimization system of battery towards sorting type streamline, comprises frame, main control computer, minimum mechanism unit one, minimum mechanism unit two, conveyer belt;
Described frame section triangle in obtuse angle, triangular base is fixed in ground, and another two three arm of angle place planes are respectively domatic and Caused by Sloping Surfaces;
Described conveyer belt be erected at described frame upper domatic on, form feeding area; The connection slideway shelf of described minimum mechanism unit one, described minimum mechanism unit two and connection two minimum mechanism units is located on the Caused by Sloping Surfaces of described frame, forms combo district;
Described minimum mechanism unit one is in herringbone, there are an access road and two exit passageways, the both sides of channel interior and the bottom of channel interior are all provided with roller, bifurcated reject gate is provided with in the junction of three passages, described bifurcated reject gate is fan-shaped, circle centre position is provided with bearing, bearing is positioned at two exit passageway outer wall crosspoints, described bifurcated reject gate left-right rotation under the control of main control computer, described bifurcated reject gate radius is identical with channel width and in arcuation, described bifurcated reject gate central angle is less than 90 degree;
Described minimum mechanism unit two is in falling herringbone, there are two access roades and an exit passageway, the both sides of channel interior and the bottom of channel interior are all provided with roller, be provided with in the junction of three passages and converge reject gate, the described reject gate that converges is fan-shaped, circle centre position is provided with bearing, bearing is positioned at two access road outer wall crosspoints, describedly converge reject gate left-right rotation under the control of main control computer, the described reject gate radius that converges is identical with channel width and in arcuation, described in converge reject gate central angle and be greater than 90 degree;
When described two kinds of reject gates turn to left side maximum position and the right maximum position, the exit passageway of a fan-shaped arcuation radius and the access road be communicated with and connection tangent, two arcuation radiuses of described two kinds of reject gates are provided with roller;
Bottom triple channel junction in described minimum mechanism unit one and minimum mechanism unit two, ball is installed;
The inner both sides of connection slideway of the minimum mechanism unit of described connection and interior bottom portion are all provided with roller;
Described minimum mechanism unit one can the sorting floor in multistage-combination composition combo district by connecting slideway, described minimum mechanism unit two by connect slideway can multistage-combination composition combo district converge floor; Described sorting layer and to converge layer symmetrical, sorting layer end is connected with the top converging layer, and sorting floor top is the import of combo district, and converging floor end is that combo district exports.
The roller that the both sides of the inside of described passage and described connection slideway, inner bottom and described reject gate two arcuation radiuses are provided with can change ball into.
Further, the battery combo optimization method based on this system comprises the following steps:
(1) battery-allocated: main control computer controls the reject gate in sorting layer, makes battery be slipped to the minimum sorting layer endpoint node place of buffer memory number of batteries.
(2) battery is selected: namely from sorting layer endpoint node, select a batteries, selects operative algorithm to be described below in conjunction with Figure 11 battery:
Step1: judge whether exit has the battery waiting for combo, if do not forward Step2 to, if forward Step4 to;
Step2: judge whether there is defective battery in endpoint node in sorting layer, if do not forward Step3 to, if forward Step5 to;
Step3: judge whether there is long-time non-selected battery in endpoint node in sorting layer, if do not forward Step4 to, if forward Step6 to;
Step4: calculate according to combo optimized mathematical model and select one of them battery, algorithm terminates;
Step5: select one of them defective battery, algorithm terminates;
Step6: select one of them long-time non-selected battery, algorithm terminates.
(3) battery converges: main control computer controls the reject gate converged in layer, the battery selected is slipped to exit, thus completes the sorting combo optimization of battery.
Described combo optimized mathematical model is as follows:
I: be in battery numbering (from left to right number consecutively) on sorting layer endpoint node, 1 ..., n;
Number of batteries needed for m: one Battery pack, usual m<n;
Q: the number of batteries having entered the wait combo in exit, q<m;
K: battery performance parameter is numbered, 1 ..., l;
the interval of acceptance of a kth battery parameter, interim
for effective value lower limit,
for the effective value upper limit;
V
ik: a kth parameter value of i-th battery;
a kth parameter value of r the battery waited in exit, r=1 ..., q;
X
i: decision variable, 0 or 1,1 represents i-th selected combo of battery;
α: residence time penalty coefficient;
T
i: i-th battery is in the residence time at sorting layer endpoint node place;
the weight coefficient of a kth parameter value
δ: battery performance consistency difference limit value;
Wherein, (1) is target function, minimizes the interior battery weighted average performance difference of group and exceed special time to be selected the number of batteries of combo not yet; (2) expression must join a full Battery pack, and the number of batteries needed for a Battery pack is m; (3) represent that defective battery can not selected combo; (4) average of a kth parameter value of combo battery is represented; Average performance difference between (5) one Battery packs can not exceed its limit value δ.
Due to the employing of technique scheme, compare with method with prior art, the present invention has the following advantages:
1. adopt the online dynamic battery method for group matching of pipeline system, greatly reduce hand labor, improve combo efficiency; Optimum combo scheme can be found out in real time according to up-to-date state.
2. combo district by minimum mechanism unit one, minimum mechanism unit two and be connected slideway combine build, structure is simple, different compound modes can be used according to actual conditions, build the combo district adapting to different production requirement, there is multi-functional, the feature such as modularization, easily extensible.
3. combo district is set to slope, and battery completes combo by self gravitation slide downward, in the process of combo, provides power without the need to outside resources, saves combo cost.
4. when reject gate turns to left side maximum position and the right maximum position, one side of the exit passageway of a fan-shaped arcuation radius and the access road be communicated with and connection is tangent, ensure that the smoothness of channel plot, simultaneously in the process of the downward landing of battery all with the face of battery terminal contact on all installed roller or ball additional, which reduce and can make battery smooth slide downward in combo district to the frictional force of battery, decrease the wearing and tearing to battery simultaneously.
Accompanying drawing explanation
Fig. 1 is the side schematic diagram of integrated model of the present invention;
Fig. 2 is the vertical view in front, combo district of the present invention;
Fig. 3 is the present invention's minimum mechanism unit one reject gate schematic diagram placed in the middle;
Fig. 4 is the present invention's minimum mechanism unit one reject gate schematic diagram to the left;
Fig. 5 is the present invention's minimum mechanism unit one reject gate schematic diagram to the right;
Fig. 6 is the present invention's minimum mechanism unit two reject gate schematic diagram placed in the middle;
Fig. 7 is the present invention's minimum mechanism unit two reject gate schematic diagram to the left;
Fig. 8 is the present invention's minimum mechanism unit two reject gate schematic diagram to the right;
Fig. 9 is the present invention's minimum mechanism unit one reject gate schematic perspective view;
Figure 10 is the present invention's minimum mechanism unit two reject gate schematic perspective view;
Figure 11 is that operative algorithm flow chart selected by battery of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described:
As shown in Figure 1, whole matching mechanism of sheet side is upwards triangular in shape, and uphill section is feeding area and downhill sections is combo district; Be provided with conveyer belt in feeding area, conveyer belt can be transported to battery 2 good for Performance Detection peak (import) place in combo district.The vertical view in front, Tu2Shi combo district, battery is in the process of combo, by self gravitation by combo district peak slide downward, main control computer constantly carries out dynamic analysis calculating in the process, control reject gate sorting direction, when battery slides to minimum point, for preparing the battery of group, defective battery or exceeding the battery that special time does not complete combo, thus realize combo optimization.
Fig. 3 and Fig. 6 is two the minimum mechanism units forming combo sound zone system, and wherein, minimum mechanism unit one, in herringbone, has an access road 1 and two exit passageways, and minimum mechanism unit two, in falling herringbone, has two access roades 1 and an exit passageway.Reject gate 3 is arranged on three-channel junction, and its shape is fan-shaped.As shown in Fig. 4, Fig. 5, Fig. 7, Fig. 8, Fig. 9, Figure 10, can successfully glide for making battery 2, reduce the wearing and tearing to battery 2 simultaneously, two radial design of reject gate 3 become arcuation, and when reject gate turns to the left side or the right maximum position, arcuation radius is just tangent with one side of the exit passageway of the access road be communicated with and connection, simultaneously on two arcuation radiuses of reject gate and the both sides of channel interior and bottom all install roller additional, install ball additional in the bottom of triple channel junction.
According to actual needs, by minimum mechanism unit one, minimum mechanism unit two be connected slideway and can assemble and construct corresponding combo district.When assembling structure combo district, first to determine the rational number of plies (due to structural symmetry, sorting layer and the number of plies converging layer are identical), if sorting layer and the number of plies of converging layer are h, allow that the largest battery number participating in combo is n, the pass so between them is: n=2 at every turn
h.If the battery number of joining Battery pack needs is m, so n should be greater than m, and combo quality is directly proportional to number of plies h, and the number of plies more polygamy group quality is higher.
Suppose that the battery number of joining Battery pack needs is m=4, according to combo quality requirement, determine that the sorting number of plies is h=4, allow that the largest battery number participating in combo is n=16 at every turn, build combo district as shown in Figure 2.The course of work of the present invention and principle as follows:
Battery 2 order detected through performance (as: battery capacity, open circuit voltage, internal resistance etc.) enters conveyer belt, when there being battery to move upward to combo district peak (import) place of mechanism with conveyer belt, main control computer controls the reject gate in sorting layer, battery-allocated to the minimum sorting layer endpoint node place of current cache number of batteries, when all sorting layer endpoint nodes reach buffer memory quantity
(s is that battery is slipped to the time of sorting layer endpoint node from peak, t is the time interval that adjacent two batteries arrive combo district peak, sorting layer endpoint node buffer memory quantity be arrived this node and distributed to this node but be not slipped to the number of batteries sum of this node) after, whenever having battery to arrive the peak place in combo district again, perform following operation:
(1) battery-allocated: main control computer controls the reject gate in sorting layer, makes battery be slipped to the minimum sorting layer endpoint node place of buffer memory number of batteries.
(2) battery is selected: namely from sorting layer endpoint node, select a batteries, selects operative algorithm to be described below in conjunction with Figure 11 battery:
Step1: judge whether exit has the battery waiting for combo, if do not forward Step2 to, if forward Step4 to;
Step2: judge whether there is defective battery in endpoint node in sorting layer, if do not forward Step3 to, if forward Step5 to;
Step3: judge whether there is long-time non-selected battery in endpoint node in sorting layer, if do not forward Step4 to, if forward Step6 to;
Step4: calculate according to combo optimized mathematical model and select one of them battery, algorithm terminates;
Step5: select one of them defective battery, algorithm terminates;
Step6: select one of them long-time non-selected battery, algorithm terminates.
(3) battery converges: main control computer controls the reject gate converged in layer, the battery selected is slipped to exit, thus completes the sorting combo optimization of battery.
Wherein combo optimized mathematical model is described below:
I: be in battery numbering (from left to right number consecutively) on sorting layer endpoint node, i=1,2 ..., 16;
Q: the number of batteries having entered the wait combo in exit, q=0,1,2,3;
K: battery performance parameter is numbered, 1 ..., l;
represent the interval of acceptance of a kth battery parameter, interim
for effective value lower limit,
for the effective value upper limit;
V
ik: a kth parameter value of i-th battery;
a kth parameter value of r the battery waited in exit, r=1 ..., q;
X
i: decision variable, 0 or 1,1 represents i-th selected combo of battery;
α: residence time penalty coefficient;
T
i: i-th battery is in the residence time at sorting layer endpoint node place;
the weight coefficient of a kth parameter value
δ: battery performance consistency difference limit value;
Wherein, (1) is target function, minimizes the interior battery weighted average performance difference of group and exceed special time to be selected the number of batteries of combo not yet; (2) expression must join a full Battery pack, and the number of batteries needed for a Battery pack is 4; (3) represent that defective battery can not selected combo; (4) average of a kth parameter value of combo battery is represented; Average performance difference between (5) one Battery packs can not exceed its limit value δ.
Above-described embodiment is preferred embodiment of the present invention; it is not the restriction to technical solution of the present invention; as long as without the technical scheme that creative work can realize on the basis of above-described embodiment, all should be considered as falling within the scope of the rights protection of patent of the present invention.
Claims (3)
1., towards the online dynamically combo optimization system of battery of sorting type streamline, comprise frame, main control computer, minimum mechanism unit one, minimum mechanism unit two, conveyer belt;
Described frame section triangle in obtuse angle, triangular base is fixed in ground, and another two three arm of angle place planes are respectively domatic and Caused by Sloping Surfaces;
Described conveyer belt be erected at described frame upper domatic on, form feeding area; The connection slideway shelf of described minimum mechanism unit one, described minimum mechanism unit two and connection two minimum mechanism units is located on the Caused by Sloping Surfaces of described frame, forms combo district;
Described minimum mechanism unit one is in herringbone, there are an access road and two exit passageways, the both sides of channel interior and the bottom of channel interior are all provided with roller, bifurcated reject gate is provided with in the junction of three passages, described bifurcated reject gate is fan-shaped, circle centre position is provided with bearing, bearing is positioned at two exit passageway outer wall crosspoints, described bifurcated reject gate left-right rotation under the control of main control computer, described bifurcated reject gate radius is identical with channel width and in arcuation, described bifurcated reject gate central angle is less than 90 degree;
Described minimum mechanism unit two is in falling herringbone, there are two access roades and an exit passageway, the both sides of channel interior and the bottom of channel interior are all provided with roller, be provided with in the junction of three passages and converge reject gate, the described reject gate that converges is fan-shaped, circle centre position is provided with bearing, bearing is positioned at two access road outer wall crosspoints, describedly converge reject gate left-right rotation under the control of main control computer, the described reject gate radius that converges is identical with channel width and in arcuation, described in converge reject gate central angle and be greater than 90 degree;
When described two kinds of reject gates turn to left side maximum position and the right maximum position, the exit passageway of a fan-shaped arcuation radius and the access road be communicated with and connection tangent, two arcuation radiuses of described two kinds of reject gates are provided with roller;
Bottom triple channel junction in described minimum mechanism unit one and minimum mechanism unit two, ball is installed;
The inner both sides of connection slideway of the minimum mechanism unit of described connection and interior bottom portion are all provided with roller;
Described minimum mechanism unit one can the sorting floor in multistage-combination composition combo district by connecting slideway, described minimum mechanism unit two by connect slideway can multistage-combination composition combo district converge floor; Described sorting layer and to converge layer symmetrical, sorting layer end is connected with the top converging layer, and sorting floor top is the import of combo district, and converging floor end is that combo district exports.
2. the online dynamically combo optimization system of the battery towards sorting type streamline according to claim 1, is characterized in that: the battery combo optimization method based on this system comprises the following steps:
(1) battery-allocated: main control computer controls the reject gate in sorting layer, makes battery be slipped to the minimum sorting layer endpoint node place of buffer memory number of batteries;
(2) battery is selected: namely from sorting layer endpoint node, select a batteries, selects operative algorithm as follows:
Step1: judge whether exit has the battery waiting for combo, if do not forward Step2 to, if forward Step4 to;
Step2: judge whether there is defective battery in endpoint node in sorting layer, if do not forward Step3 to, if forward Step5 to;
Step3: judge whether there is long-time non-selected battery in endpoint node in sorting layer, if do not forward Step4 to, if forward Step6 to;
Step4: set up combo optimized mathematical model, and calculate according to combo optimized mathematical model and select a battery in sorting layer endpoint node, algorithm terminates;
Step5: select a defective battery in sorting layer endpoint node, algorithm terminates;
Step6: select a long-time non-selected battery in sorting layer endpoint node, algorithm terminates;
(3) battery converges: main control computer controls the reject gate converged in layer, the battery selected is slipped to exit, thus completes the sorting combo optimization of battery;
Described in step (2) Step4, combo optimized mathematical model is as follows:
I: be in battery numbering (from left to right number consecutively) on sorting layer endpoint node, 1 ..., n;
Number of batteries needed for m: one Battery pack, usual m<n;
Q: the number of batteries having entered the wait combo in exit, q<m;
K: battery performance parameter is numbered, 1 ..., l;
the interval of acceptance of a kth battery parameter, interim
for effective value lower limit,
for the effective value upper limit;
V
ik: a kth parameter value of i-th battery;
a kth parameter value of r the battery waited in exit, r=1 ..., q;
X
i: decision variable, 0 or 1,1 represents i-th selected combo of battery;
α: residence time penalty coefficient;
T
i: i-th battery is in the residence time at sorting layer endpoint node place;
the weight coefficient of a kth parameter value
δ: battery performance consistency difference limit value;
Wherein, (1) is target function, minimizes the interior battery weighted average performance difference of group and exceed special time to be selected the number of batteries of combo not yet; (2) expression must join a full Battery pack, and the number of batteries needed for a Battery pack is m; (3) represent that defective battery can not selected combo; (4) average of a kth parameter value of combo battery is represented; Average performance difference between (5) one Battery packs can not exceed its limit value δ.
3. the online dynamically combo optimization system of a kind of battery towards sorting type streamline according to claim 1, is characterized in that the roller that the both sides of the inside of described passage and described connection slideway, inner bottom and described reject gate two arcuation radiuses are provided with can change ball into.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108927341A (en) * | 2018-08-28 | 2018-12-04 | 山东英才学院 | A kind of e-commerce modularization express delivery sorting system |
| CN109244524A (en) * | 2018-10-29 | 2019-01-18 | 江苏逸飞激光设备有限公司 | Battery core combo system |
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| CN203917194U (en) * | 2014-06-13 | 2014-11-05 | 中山天贸电池有限公司 | A kind of survey short circuit sorting unit of lithium ion cylinder battery |
| CN204614898U (en) * | 2015-05-07 | 2015-09-02 | 浙江工商大学 | A kind of can the multi-functional full-automatic battery combo system of combination in any |
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| US20040155626A1 (en) * | 2003-02-11 | 2004-08-12 | Hedegor Erik W. | Battery tester and sorting apparatus |
| CN102641856A (en) * | 2011-02-17 | 2012-08-22 | 哈尔滨智明科技有限公司 | High-speed automatic battery separator |
| CN203917194U (en) * | 2014-06-13 | 2014-11-05 | 中山天贸电池有限公司 | A kind of survey short circuit sorting unit of lithium ion cylinder battery |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108927341A (en) * | 2018-08-28 | 2018-12-04 | 山东英才学院 | A kind of e-commerce modularization express delivery sorting system |
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| CN109244524B (en) * | 2018-10-29 | 2024-01-16 | 江苏逸飞激光设备有限公司 | Battery cell assembling system |
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| Publication number | Publication date |
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| CN104868184B (en) | 2017-04-12 |
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