Automated integrated assembly method and systems for electric drive transmission system, and storage medium

Abstract

An automated integrated assembly method and systems for an electric drive transmission system, and a storage medium. The automated integrated assembly method for an electric drive transmission system, comprising: by means of a laser ranging sensor and a six-degree-of-freedom sensor, measuring the distance and spatial angle between an assembly workpiece and an assembly point during an assembly process, so as to obtain six-degree-of-freedom pose parameters (S102); performing reverse solving and automated adjustment on the six-degree-of-freedom pose parameters to obtain an assembly workpiece adjustment angle and an assembly distance (S104); and, on the basis of the assembly workpiece adjustment angle and the assembly distance, performing pose adjustment and assembly in-position on the assembly workpiece (S106). The automated integrated assembly method and systems for an electric drive transmission system solve the problems of complicated structure and low measurement accuracy of measurement devices in the assembly of existing electric drive transmission systems, thereby enabling measurement devices to have simple and compact structures, and achieving high-precision and highly reliable assembly of electric drive transmission systems.

Description

Electric drive transmission system automation integrated assembly method and system, storage medium

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 202410799945.8, filed on June 20, 2024, the entire contents of which are incorporated herein by reference for all purposes. TECHNICAL FIELD

[0003] The present application relates to the technical field of electric drive transmission systems, in particular to an electric drive transmission system automation integrated assembly method and system, and a storage medium. BACKGROUND

[0004] The inventor realizes that the structure of the electric drive transmission system for off-road vehicles is complex, and the core power components are connected through mechanical transmission devices or high and low voltage wire bundles and connectors, resulting in a complex overall layout of the transmission system, making it difficult to optimize and reduce the volume and weight. In addition, the measurement accuracy is low in the automatic assembly process of the electric drive transmission system for off-road vehicles, and the assembly reliability of the electric drive transmission system is low. SUMMARY

[0005] The present application aims to solve or improve the problem of low measurement accuracy in the assembly of electric drive transmission systems.

[0006] To this end, the first object of the present application is to provide an electric drive transmission system automation integrated assembly method.

[0007] The second object of the present application is to provide an electric drive transmission system automation integrated assembly system.

[0008] The third object of the present application is to provide another electric drive transmission system automation integrated assembly system.

[0009] The fourth object of the present application is to provide a readable storage medium.

[0010] To achieve the first object of the present application, the technical solution of the first aspect of the present application provides an electric drive transmission system automation integrated assembly method, comprising: measuring the distance and spatial angle between the assembly workpiece and the assembly point in the assembly process by a laser ranging sensor and a six-degree-of-freedom sensor to obtain six-degree-of-freedom pose parameters; inversely solving and automatically adjusting the six-degree-of-freedom pose parameters to obtain the adjustment angle and assembly distance of the assembly workpiece; and adjusting the pose of the assembly workpiece and assembling it into position according to the adjustment angle and assembly distance of the assembly workpiece.

[0011] According to the automatic assembly method of the electric drive transmission system provided in the application, first, the distance and the spatial angle between the assembly workpiece and the assembly point in the assembly process are measured by the laser ranging sensor and the six-degree-of-freedom sensor to obtain the six-degree-of-freedom pose parameters. Then, the six-degree-of-freedom pose parameters are solved reversely and adjusted automatically to obtain the adjustment angle and the assembly distance of the assembly workpiece. Finally, the pose of the assembly workpiece is adjusted and the assembly workpiece is assembled into position according to the adjustment angle and the assembly distance of the assembly workpiece. The distance and the spatial angle between the workpiece and the assembly point in the assembly process are detected by the laser ranging sensor and the six-degree-of-freedom sensor, and the six-degree-of-freedom pose parameters are solved reversely and adjusted automatically, so that high-precision position positioning is realized, the problem of complex structure and low measurement accuracy of the measurement device in the existing electric drive transmission system assembly is solved, the structure of the measurement device is simple and compact, and high-precision and high-reliability electric drive transmission system assembly is realized.

[0012] In addition, the technical solutions provided in the application can also have the following additional technical features:

[0013] In some technical solutions, before measuring the distance and the spatial angle between the assembly workpiece and the assembly point in the assembly process by the laser ranging sensor and the six-degree-of-freedom sensor, the method further includes: obtaining the motion type of the assembly workpiece, and determining the motion mechanism and the clamp according to the motion type.

[0014] In this technical solution, before measuring the distance and the spatial angle between the assembly workpiece and the assembly point in the assembly process by the laser ranging sensor and the six-degree-of-freedom sensor, the method further includes obtaining the motion type of the assembly workpiece, and determining the motion mechanism and the clamp according to the motion type. According to the action requirements of each assembly workpiece, the motion type is determined, and the optimal motion mechanism and the corresponding clamp are designed, so that the assembly preparation, six-degree-of-freedom sensor positioning detection, pose adjustment, assembly into position and other operations can be completed.

[0015] In some technical solutions, according to the adjustment angle and the assembly distance of the assembly workpiece, the pose of the assembly workpiece is adjusted and the assembly workpiece is assembled into position, including: adjusting the pose of the assembly workpiece by the motion mechanism and the clamp according to the adjustment angle of the assembly workpiece.

[0016] In this technical solution, according to the adjustment angle and the assembly distance of the assembly workpiece, the pose of the assembly workpiece is adjusted and the assembly workpiece is assembled into position, including adjusting the pose of the assembly workpiece by the motion mechanism and the clamp according to the adjustment angle of the assembly workpiece, so that high-precision and high-reliability electric drive transmission system assembly is realized.

[0017] In some technical solutions, according to the adjustment angle and the assembly distance of the assembly workpiece, the pose of the assembly workpiece is adjusted and the assembly workpiece is assembled into position, including: adjusting the pose of the assembly workpiece by the motion mechanism and the clamp according to the adjustment angle of the assembly workpiece.

[0018] In the technical solution, the pose of the assembly workpiece is adjusted and the assembly workpiece is assembled into position according to the adjustment angle and the assembly distance of the assembly workpiece, and the assembly workpiece is further assembled into position by the motion mechanism and the clamp according to the assembly distance, so that the high-precision and high-reliability electric drive transmission system assembly is achieved.

[0019] In some technical solutions, the motion type of the assembly workpiece is acquired, including: determining the motion type of the assembly workpiece according to the action requirement of the assembly workpiece.

[0020] In the technical solution, the motion type of the assembly workpiece is acquired, including determining the motion type of the assembly workpiece according to the action requirement of the assembly workpiece, so as to determine the optimal motion mechanism and the corresponding clamp.

[0021] In some technical solutions, the number of assembly workpieces is multiple.

[0022] In the technical solution, the number of assembly workpieces is multiple.

[0023] In some technical solutions, the six-degree-of-freedom sensor includes a 3D vision six-degree-of-freedom sensor.

[0024] In the technical solution, the six-degree-of-freedom sensor includes a 3D vision six-degree-of-freedom sensor.

[0025] To achieve the second object of the present application, the second aspect of the technical solution of the present application provides an electric drive transmission system automatic integrated assembly system, including: a measurement module for measuring the distance and the spatial angle between the assembly workpiece and the assembly point in the assembly process by a laser ranging sensor and a six-degree-of-freedom sensor, obtaining six-degree-of-freedom pose parameters; a calculation module for inversely solving and automatically adjusting the six-degree-of-freedom pose parameters, obtaining the adjustment angle and the assembly distance of the assembly workpiece; and a positioning module for adjusting the pose of the assembly workpiece and assembling the assembly workpiece into position according to the adjustment angle and the assembly distance of the assembly workpiece.

[0026] The electric drive transmission system automatic integrated assembly system provided by the application comprises a measurement module, a calculation module and a positioning module. The measurement module is used to measure the distance and spatial angle between the assembly workpiece and the assembly point in the assembly process by means of a laser ranging sensor and a six-degree-of-freedom sensor, and obtain six-degree-of-freedom pose parameters. The calculation module is used to inversely solve and automatically adjust the six-degree-of-freedom pose parameters, and obtain the adjustment angle and assembly distance of the assembly workpiece. The positioning module is used to adjust the pose of the assembly workpiece and assemble it into position according to the adjustment angle and assembly distance of the assembly workpiece. The distance and spatial angle between the workpiece and the assembly point in the assembly process are detected by means of the laser ranging sensor and the six-degree-of-freedom sensor, and the six-degree-of-freedom pose parameters are inversely solved and automatically adjusted, so as to realize high-precision position positioning, solve the problems of complex structure and low measurement accuracy of the measurement device in the assembly of the existing electric drive transmission system, make the structure of the measurement device simple and compact, and realize high-precision and reliable assembly of the electric drive transmission system.

[0027] To achieve the third object of the application, the technical solution of the third aspect of the application provides an electric drive transmission system automatic integrated assembly system, comprising a memory and a processor, wherein the memory stores programs or instructions executable on the processor, and the processor executes the programs or instructions to realize the steps of the electric drive transmission system automatic integrated assembly method of any one of the first aspect technical solutions, so as to have the technical effects of any one of the first aspect technical solutions, which will not be repeated here.

[0028] To achieve the fourth object of the application, the technical solution of the fourth aspect of the application provides a readable storage medium, which stores programs or instructions, and the programs or instructions are executed by a processor to realize the steps of the electric drive transmission system automatic integrated assembly method of any one of the first aspect technical solutions, so as to have the technical effects of any one of the first aspect technical solutions, which will not be repeated here.

[0029] Additional aspects and advantages of the application will become apparent from the following description part, or will be understood by those skilled in the art through the practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0030] The above and / or additional aspects and advantages of the application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0031] Fig. 1 is a step flow diagram of an electric drive transmission system automatic integrated assembly method according to an embodiment of the application;

[0032] Fig. 2 is a step flow diagram of an electric drive transmission system automatic integrated assembly method according to an embodiment of the application;

[0033] Fig. 3 is a schematic diagram of steps of an automatic integrated assembly method of an electric drive transmission system according to an embodiment of the present application;

[0034] Fig. 4 is a schematic diagram of steps of an automatic integrated assembly method of an electric drive transmission system according to an embodiment of the present application;

[0035] Fig. 5 is a schematic diagram of steps of an automatic integrated assembly method of an electric drive transmission system according to an embodiment of the present application;

[0036] Fig. 6 is a schematic diagram of a structure of an automatic integrated assembly system of an electric drive transmission system according to an embodiment of the present application;

[0037] Fig. 7 is a schematic diagram of a structure of an automatic integrated assembly system of an electric drive transmission system according to another embodiment of the present application.

[0038] In Fig. 6 and Fig. 7, the correspondence between the reference signs and the component names is as follows:

[0039] 10: automatic integrated assembly system of an electric drive transmission system; 110: measurement module; 120: calculation module; 130: positioning module; 20: automatic integrated assembly system of an electric drive transmission system; 300: storage; 400: processor. DETAILED DESCRIPTION

[0040] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0041] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0042] The automatic integrated assembly method and system of an electric drive transmission system, and the storage medium of some embodiments of the present application are described below with reference to Fig. 1 to Fig. 7.

[0043] As shown in Fig. 1, an embodiment of the first aspect of the present application provides one of the automatic integrated assembly methods of an electric drive transmission system, which comprises the following steps:

[0044] S102: measuring the distance and spatial angle between the assembly workpiece and the assembly point in the assembly process by the laser ranging sensor and the six-degree-of-freedom sensor, to obtain the six-degree-of-freedom pose parameters;

[0045] S104: inversely solving and automatically adjusting the six-degree-of-freedom pose parameters to obtain the adjustment angle and assembly distance of the assembly workpiece;

[0046] S106: Adjusting the pose of the assembly workpiece according to the adjustment angle and the assembly distance of the assembly workpiece, and assembling the assembly workpiece into position.

[0047] According to the electric drive transmission system automatic integrated assembly method provided in the embodiment, first, the distance and the spatial angle between the assembly workpiece and the assembly point in the assembly process are measured by the laser ranging sensor and the six-degree-of-freedom sensor, and the six-degree-of-freedom pose parameters are obtained. Then, the six-degree-of-freedom pose parameters are inversely solved and automatically adjusted, and the adjustment angle and the assembly distance of the assembly workpiece are obtained. Finally, the pose of the assembly workpiece is adjusted according to the adjustment angle and the assembly distance of the assembly workpiece, and the assembly workpiece is assembled into position. By detecting the distance and the spatial angle between the workpiece and the assembly point in the assembly process by the laser ranging sensor and the six-degree-of-freedom sensor, and inversely solving and automatically adjusting the six-degree-of-freedom pose parameters, high-precision position positioning is realized, and the problem of complex structure and low measurement accuracy of the measurement device in the existing electric drive transmission system assembly is solved, so that the structure of the measurement device is simple and compact, thereby realizing high-precision and high-reliability electric drive transmission system assembly.

[0048] As shown in FIG. 2, according to the second electric drive transmission system automatic integrated assembly method according to an embodiment of the present application, before the distance and the spatial angle between the assembly workpiece and the assembly point in the assembly process are measured by the laser ranging sensor and the six-degree-of-freedom sensor, the following steps are further included:

[0049] S202: Obtain the motion type of the assembly workpiece, and determine the motion mechanism and the clamp according to the motion type.

[0050] In this embodiment, before the distance and the spatial angle between the assembly workpiece and the assembly point in the assembly process are measured by the laser ranging sensor and the six-degree-of-freedom sensor, the following steps are further included: obtaining the motion type of the assembly workpiece, and determining the motion mechanism and the clamp according to the motion type. According to the action requirements of each assembly workpiece, the motion type is determined, and the optimal motion mechanism and the corresponding clamp are designed, so that the assembly preparation, six-degree-of-freedom sensor positioning detection, pose adjustment, assembly into position and other operations can be completed.

[0051] As shown in FIG. 3, according to the third electric drive transmission system automatic integrated assembly method according to an embodiment of the present application, the pose of the assembly workpiece is adjusted according to the adjustment angle and the assembly distance of the assembly workpiece, and specifically includes the following steps:

[0052] S302: Adjusting the pose of the assembly workpiece by the motion mechanism and the clamp according to the adjustment angle of the assembly workpiece.

[0053] In the embodiment, the pose adjustment and assembly into position of the assembly workpiece according to the assembly workpiece adjustment angle and assembly distance comprises: adjusting the pose of the assembly workpiece according to the assembly workpiece adjustment angle through the motion mechanism and the clamp, so as to realize high-precision and strong-reliability electric drive transmission system assembly.

[0054] As shown in FIG. 4, according to the fourth electric drive transmission system automatic integrated assembly method according to an embodiment of the present application, the pose adjustment and assembly into position of the assembly workpiece according to the assembly workpiece adjustment angle and assembly distance further comprises the following steps:

[0055] S402: assembling the assembly workpiece into position through the motion mechanism and the clamp according to the assembly distance.

[0056] In the embodiment, the pose adjustment and assembly into position of the assembly workpiece according to the assembly workpiece adjustment angle and assembly distance further comprises: assembling the assembly workpiece into position through the motion mechanism and the clamp according to the assembly distance, so as to realize high-precision and strong-reliability electric drive transmission system assembly.

[0057] As shown in FIG. 5, according to the fifth electric drive transmission system automatic integrated assembly method according to an embodiment of the present application, the motion type of the assembly workpiece is obtained, comprising the following steps:

[0058] S502: determining the motion type of the assembly workpiece according to the action requirement of the assembly workpiece.

[0059] In the embodiment, the motion type of the assembly workpiece is obtained, comprising: determining the motion type of the assembly workpiece according to the action requirement of the assembly workpiece, so as to determine the best motion mechanism and the corresponding clamp.

[0060] In some embodiments, optionally, the number of assembly workpieces is multiple.

[0061] In some embodiments, optionally, the six-degree-of-freedom sensor comprises a 3D vision six-degree-of-freedom sensor.

[0062] As shown in FIG. 6, an embodiment of the second aspect of the present application provides an electric drive transmission system automatic integrated assembly system 10, comprising: a measurement module 110, configured to measure the distance and spatial angle between the assembly workpiece and the assembly point in the assembly process through a laser ranging sensor and a six-degree-of-freedom sensor, to obtain six-degree-of-freedom pose parameters; a calculation module 120, configured to inversely solve and automatically adjust the six-degree-of-freedom pose parameters, to obtain an assembly workpiece adjustment angle and an assembly distance; and a positioning module 130, configured to adjust the pose of the assembly workpiece according to the assembly workpiece adjustment angle and the assembly distance, and to assemble the assembly workpiece into position.

[0063] The automatic integrated assembly system 10 of the electric drive transmission system provided by the embodiment comprises a measurement module 110, a calculation module 120 and a positioning module 130. The measurement module 110 is configured to measure the distance and the spatial angle between the assembly workpiece and the assembly point in the assembly process by means of a laser ranging sensor and a six-degree-of-freedom sensor, and obtain the six-degree-of-freedom pose parameters. The calculation module 120 is configured to inversely solve and automatically adjust the six-degree-of-freedom pose parameters, and obtain the adjustment angle and the assembly distance of the assembly workpiece. The positioning module 130 is configured to adjust the pose of the assembly workpiece and assemble the assembly workpiece into position according to the adjustment angle and the assembly distance of the assembly workpiece. The distance and the spatial angle between the workpiece and the assembly point in the assembly process are detected by means of the laser ranging sensor and the six-degree-of-freedom sensor, the six-degree-of-freedom pose parameters are inversely solved and automatically adjusted, high-precision position positioning is achieved, and the problem of complex structure and low measurement precision of the measurement device in the assembly of the existing electric drive transmission system is solved, so that the structure of the measurement device is simple and compact, and high-precision and high-reliability assembly of the electric drive transmission system is achieved.

[0064] As shown in FIG. 7, the embodiment of the third aspect of the application provides another automatic integrated assembly system 20 of the electric drive transmission system, comprising a memory 300 and a processor 400, wherein the memory 300 stores programs or instructions executable on the processor 400, and the processor 400 implements the steps of the electric drive transmission system automatic integrated assembly method of any one of the embodiments of the first aspect when executing the programs or instructions, thus having the technical effects of any one of the embodiments of the first aspect, which will not be described herein again.

[0065] The embodiment of the fourth aspect of the application provides a readable storage medium having programs or instructions stored thereon, and the programs or instructions are executed by a processor to implement the steps of the electric drive transmission system automatic integrated assembly method of any one of the embodiments of the first aspect, thus having the technical effects of any one of the embodiments of the first aspect, which will not be described herein again.

[0066] According to the electric drive transmission system automatic integrated assembly method provided by the specific embodiment of the application, the automatic assembly technology of the electric drive transmission system is developed, and high-precision and high-reliability assembly of the electric drive transmission system is achieved.

[0067] The technical solution adopted by the embodiment is as follows:

[0068] The distance and the spatial angle between the workpiece and the assembly point in the assembly process are detected, the adjustment angle and the assembly distance of the assembly workpiece are calculated therefrom, a measurement principle scheme utilizing a laser ranging sensor and a six-degree-of-freedom sensor is designed, the six-degree-of-freedom pose parameters are inversely solved and automatically adjusted, and finally high-precision position positioning is achieved.

[0069] In the field of computer vision and robotics, six degrees of freedom (6DOF) localization refers to determining the position and orientation of an object in three-dimensional space. Compared to three degrees of freedom (3DOF) localization, 6DOF localization can not only determine the translation (x, y, z) of an object, but also its rotation (pitch, yaw, roll).

[0070] According to the action requirements of each workpiece to be assembled, the motion type is determined, and the best motion mechanism and corresponding clamp are designed to complete the assembly preparation, six degrees of freedom sensor positioning detection, pose adjustment, assembly into position and other operations.

[0071] The detection system and the assembly platform are integrated, the corresponding control model and the control scheme of the motor assembly are researched, the assembly control process is planned, and the automatic control processes such as point adjustment, positioning adjustment, automatic adjustment and protection function are realized.

[0072] The laser ranging sensor and the six degrees of freedom sensor of 3D vision detect the distance and spatial angle between the workpiece and the assembly point in the assembly process, and inversely solve and automatically adjust the six degrees of freedom pose parameters, realize high-precision position positioning, and solve the problems of complex structure and low measurement accuracy of the measurement device in the existing electric drive transmission system assembly, so that the structure of the measurement device is simple and compact.

[0073] In summary, the beneficial effects of the embodiments of the present application are:

[0074] By using the laser ranging sensor and the six degrees of freedom sensor of 3D vision measurement principle scheme, high-precision position positioning is realized, the problems of complex structure and low measurement accuracy of the measurement device in the existing electric drive transmission system assembly are solved, and the structure of the measurement device is simple and compact, so that high-precision and strong-reliability electric drive transmission system assembly is realized.

[0075] In the present application, the terms "first", "second", "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance; the term "multiple" refers to two or more, unless otherwise explicitly limited. The terms "mounting", "connecting", "connecting", "fixing" and the like should be broadly understood, for example, "connecting" can be fixed connection, or detachable connection, or integral connection; "connecting" can be direct connection, or indirect connection through intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0076] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", and the like are intended to indicate the orientation or positional relationship as shown in the drawings, and are only for convenience of description of the present application and simplification of description, and do not indicate or imply that the device or module referred to must have a particular direction, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0077] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "a specific embodiment", and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0078] The above is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automated integration and assembly method for an electric drive transmission system, wherein, include: The distance and spatial angle between the assembled workpiece and the assembly point are measured by a laser rangefinder and a six-degree-of-freedom sensor during the assembly process to obtain the six-degree-of-freedom pose parameters. The six-degree-of-freedom pose parameters are solved in reverse and automatically adjusted to obtain the adjustment angle and assembly distance of the assembled workpiece. The position of the assembly workpiece is adjusted and it is then assembled into place based on the adjustment angle and the assembly distance.

2. The automated integration and assembly method for an electric drive transmission system according to claim 1, wherein, Before measuring the distance and spatial angle between the assembled workpiece and the assembly point during the assembly process using a laser rangefinder and a six-degree-of-freedom sensor, the method further includes: Obtain the motion type of the assembled workpiece, and determine the motion mechanism and fixture based on the motion type.

3. The automated integration and assembly method for an electric drive transmission system according to claim 2, wherein, The step of adjusting the position and assembling the workpiece according to the adjustment angle and the assembly distance includes: The position of the assembled workpiece is adjusted according to the angle of the workpiece by the motion mechanism and the fixture.

4. The automated integration and assembly method for an electric drive transmission system according to claim 3, wherein, The step of adjusting the position and assembling the workpiece according to the adjustment angle and the assembly distance further includes: The workpiece is assembled into position using the motion mechanism and the fixture according to the assembly distance.

5. The automated integration and assembly method for an electric drive transmission system according to claim 2, wherein, The step of obtaining the motion type of the assembled workpiece includes: The motion type of the assembly workpiece is determined based on its motion requirements.

6. The automated integration and assembly method for an electric drive transmission system according to any one of claims 1 to 5, wherein, The number of assembly workpieces is multiple.

7. The automated integration and assembly method for an electric drive transmission system according to any one of claims 1 to 5, wherein, The six-degree-of-freedom sensor includes a 3D vision six-degree-of-freedom sensor.

8. An automated integrated assembly system for an electric drive transmission system, wherein, include: The measurement module is used to measure the distance and spatial angle between the assembled workpiece and the assembly point during the assembly process using a laser rangefinder and a six-degree-of-freedom sensor, and to obtain the six-degree-of-freedom pose parameters. The calculation module is used to perform reverse solving and automatic adjustment of the six-degree-of-freedom pose parameters to obtain the adjustment angle and assembly distance of the assembled workpiece. The positioning module is used to adjust the position and position of the assembly workpiece according to the adjustment angle and the assembly distance.

9. An automated integrated assembly system for an electric drive transmission system, wherein, include: A memory and a processor, wherein the memory stores a program or instructions executable on the processor, and the processor executes the program or instructions to implement the steps of the automated integrated assembly method for an electric drive transmission system as described in any one of claims 1 to 7.

10. A readable storage medium having a program or instructions stored thereon, wherein, When the program or the instructions are executed by the processor, they implement the steps of the automated integrated assembly method for the electric drive transmission system as described in any one of claims 1 to 7.

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