Bearing and brake disc assembly control method, device, electronic equipment and system

Abstract

The invention discloses a bearing and brake disc assembly control method, device, electronic equipment and system, and the method comprises the steps: carrying out the image shooting of a material frame where a bearing is located and a material frame where a brake disc is located, obtaining a first image and a second image, and recognizing the position of the bearing in the first image; a gripper is controlled to automatically grab the bearing and then move to the position of a preset assembly table, the bearing to be assembled is placed on an assembly table profiling seat, the position of the brake disc in the second image is recognized, and the gripper is controlled to automatically grab the brake disc and then move to the position of the preset assembly table, and the brake disc to be assembled is placed on the bearing to be assembled; and the robot is controlled to automatically execute the assembly action to complete the assembly of the bearing and the brake disc. According to the scheme, manual participation is not needed in the whole assembling process, grabbing, carrying and assembling are all automatically achieved, and the assembling efficiency is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of workpiece assembly, and in particular to a bearing and brake disc assembly control method, device, electronic equipment and system. Background Art

[0002] During the vehicle processing and assembly process, many processes require the workpiece to be grasped and assembled with other workpieces, such as bearings and brake discs. In the process of assembling bearings and brake discs, it is usually necessary to carry out at two stations. The operator at the first station places the bearing on the disc jump detection equipment, and the operator at the second station places the brake disc on the bearing for assembly. When assembling workpieces, manual handling and assembly methods are inefficient, which affects the advancement of the automation of the final assembly production line. Summary of the invention

[0003] The present application provides a bearing and brake disc assembly control method, device, storage medium, electronic equipment and system to solve the technical problem of low efficiency in the assembly of bearings and brake discs in the prior art.

[0004] In a first aspect, the technical solution of the present application provides a bearing and brake disc assembly control method, comprising:

[0005] Acquire a first image, where the first image is an image of a material frame where the bearing is located;

[0006] Identify the bearing position in the first image and control the gripper to move to the bearing position to grab the bearing to be assembled;

[0007] Control the gripper to move to a preset assembly table position and place the bearing to be assembled on the assembly table contour seat;

[0008] Acquire a second image, where the second image is an image of a material frame where the brake disc is located;

[0009] Identify the brake disc position in the second image and control the gripper to move to the brake disc position to grip the brake disc to be assembled;

[0010] Controlling the gripper to move to a preset assembly table position and placing the brake disc to be assembled on the bearing to be assembled;

[0011] The robot is controlled to assemble the bearing to be assembled and the brake disc to be assembled.

[0012] The bearing and brake disc assembly control method described in some schemes, wherein the gripper is controlled to move to a preset assembly station position and the brake disc to be assembled is placed on the bearing to be assembled, further comprising:

[0013] After determining that the gripper moves to the preset assembly station position, judging whether the alignment result between the brake disc to be assembled and the bearing to be assembled meets the assembly requirements;

[0014] If the alignment result does not meet the assembly requirements, the gripper action is controlled to adjust the position and / or angle of the brake disc to be assembled, so that the brake disc to be assembled is aligned with the bearing to be assembled and then the brake disc to be assembled is placed on the bearing to be assembled.

[0015] In some embodiments of the bearing and brake disc assembly control method, the step of determining the alignment result between the brake disc to be assembled and the bearing to be assembled comprises:

[0016] Acquire a first mounting surface image of the bearing to be assembled;

[0017] identifying a mounting component in the first mounting surface image;

[0018] Acquire a second mounting surface image of the brake disc to be assembled;

[0019] identifying mounting holes in the second mounting surface image;

[0020] If the mounting hole coincides with the projection surface of the mounting member, the alignment result between the brake disc to be assembled and the bearing to be assembled meets the assembly requirements.

[0021] In some embodiments of the bearing and brake disc assembly control method, the step of determining the alignment result between the brake disc to be assembled and the bearing to be assembled comprises:

[0022] Acquire a first mounting surface image of the bearing to be assembled;

[0023] identifying a first alignment feature hole in the first mounting surface image;

[0024] Acquire a second mounting surface image of the brake disc to be assembled;

[0025] identifying a second alignment feature hole in the second mounting surface image;

[0026] If the projection surface of the second alignment feature hole coincides with the projection surface of the first alignment feature hole, the alignment result between the brake disc to be assembled and the bearing to be assembled meets the assembly requirement.

[0027] In some embodiments, the bearing and brake disc assembly control method is described, wherein the following method is used to determine whether the projection surface of the second alignment feature hole coincides with the projection surface of the first alignment feature hole:

[0028] Obtaining a first connecting line between the center of the first alignment feature hole and the center of the bearing to be assembled;

[0029] Obtain a second connection line between the second alignment feature hole and the center of the brake disc to be assembled;

[0030] Obtaining an angle between the second connecting line and the first connecting line;

[0031] If the included angle is smaller than the set angle difference, it is determined that the projection planes of the second alignment feature hole and the first alignment feature hole coincide with each other.

[0032] In some embodiments of the bearing and brake disc assembly control method, the step of obtaining the angle between the second connecting line and the first connecting line includes:

[0033] Obtaining a first angle between the first connecting line and a preset shooting reference line;

[0034] Obtaining a second angle between the second connecting line and the preset shooting reference line;

[0035] A difference between the first angle and the second angle is obtained as the angle.

[0036] The bearing and brake disc assembly control method described in some schemes, wherein the gripper is controlled to move to a preset assembly table position and the bearing to be assembled is placed on the assembly table contour seat, comprising:

[0037] After determining that the gripper moves to the preset assembly table position, acquiring the placement surface image of the bearing to be assembled;

[0038] Acquire a placement surface image of a preset assembly table contour seat;

[0039] determining whether the placement surface image matches the placement surface image;

[0040] If the projection surface of the placement surface image matches the placement surface image, the bearing to be assembled is placed on the assembly table contour seat.

[0041] In some embodiments of the bearing and brake disc assembly control method, the step of obtaining the placement surface image of the bearing to be assembled comprises:

[0042] Acquire a third image, wherein the third image is an initial photographed image of the placement surface of the bearing to be assembled;

[0043] Call the bearing template matching image;

[0044] Matching the initial photographed image with the bearing template matching image to determine a placement surface image of the bearing to be assembled in the initial photographed image;

[0045] Obtaining the center of the mounting component in the placement surface image;

[0046] Connecting the centers of any two of the mounting parts to obtain a mounting part connection line;

[0047] Obtaining the shortest installation part connection line as a reference line, and taking the deflection angle between the reference line and a preset shooting reference line as the deflection angle of the bearing to be assembled;

[0048] If the deflection angle is consistent with the deflection angle parameter recorded in the placement surface image, it is determined that the projection surface of the placement surface image matches the placement surface image.

[0049] In a second aspect, the technical solution of the present application provides a bearing and brake disc assembly control device, comprising:

[0050] A first image acquisition module is configured to acquire a first image, wherein the first image is an image of a material frame where the bearing is located;

[0051] A first parsing module is configured to identify a bearing position in the first image and control a gripper to move to the bearing position to grab the bearing to be assembled;

[0052] A gripper control module is configured to control the gripper to move to a preset assembly table position and place the bearing to be assembled on the assembly table contour seat;

[0053] A second image acquisition module is configured to acquire a second image, where the second image is an image of a material frame where the brake disc is located;

[0054] A second parsing module is configured to identify the brake disc position in the second image and control the gripper to move to the brake disc position to grip the brake disc to be assembled;

[0055] The gripper control module is further used to control the gripper to move to a preset assembly table position and place the brake disc to be assembled on the bearing to be assembled;

[0056] An assembly control module controls the robot to assemble the bearing to be assembled and the brake disc to be assembled.

[0057] In a third aspect, the technical solution of the present application provides a storage medium, in which program information is stored. After a computer reads the program information, the computer executes the bearing and brake disc assembly control method described in any one of the technical solutions of the first aspect.

[0058] In a fourth aspect, the technical solution of the present application provides an electronic device, comprising at least one processor and at least one memory, wherein at least one of the memories stores program information, and after reading the program information, at least one of the processors executes the bearing and brake disc assembly control method described in any one of the technical solutions of the first aspect.

[0059] In a fifth aspect, the technical solution of the present application provides a bearing and brake disc assembly control system, comprising the electronic device described in the third aspect, and further comprising:

[0060] A three-dimensional camera is arranged on a material frame where the bearing is located and a material frame where the brake disc is located, and the three-dimensional camera captures a three-dimensional target image and sends the three-dimensional target image to the electronic device, wherein the three-dimensional target image includes an image of the material frame where the bearing is located and an image of the material frame where the brake disc is located;

[0061] A robotic arm, wherein the robotic arm is provided with a gripper;

[0062] A two-dimensional camera is arranged on the mechanical arm and the pre-installed assembly table;

[0063] The electronic device identifies the target position of the bearing or the brake disc in the three-dimensional target image, and controls the robot arm to move to the target position under the control of the electronic device, wherein the target position includes the position of the material frame where the bearing is located, the position of the material frame where the brake disc is located, and the position of the preset assembly table;

[0064] The two-dimensional camera captures a two-dimensional target image under the control of the electronic device and sends the two-dimensional target image to the electronic device; the two-dimensional target image includes an installation surface image of a bearing to be assembled, an installation surface image of a brake disc to be assembled, a placement surface image of a bearing to be assembled, and an initial captured image of the placement surface of the bearing to be assembled;

[0065] The gripper grabs, adjusts or places the bearing to be assembled or the brake disc to be assembled under the control of the electronic device;

[0066] A robot assembles the bearing to be assembled and the brake disc to be assembled under the control of the electronic equipment.

[0067] Compared with the prior art, the above technical solution provided by this application has at least the following technical effects:

[0068] The bearing and brake disc assembly control method, device, electronic device and system provided in the present application obtain a first image and a second image by taking images of the material frame where the bearing is located and the material frame where the brake disc is located, identifying the position of the bearing in the first image, controlling the gripper to automatically grasp the bearing and then move it to the preset assembly table position and place the bearing to be assembled on the assembly table profiling seat, identifying the position of the brake disc in the second image, controlling the gripper to automatically grasp the brake disc and then move it to the preset assembly table position and place the brake disc to be assembled on the bearing to be assembled, and controlling the robot to automatically perform the assembly action to complete the assembly of the bearing and the brake disc. The above scheme of the present application does not require human participation in the entire assembly process, and grasping, handling and assembly are all automatically realized, which greatly improves the assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:

[0070] Figure 1 This is a flow chart of a bearing and brake disc assembly control method in one embodiment of the present application;

[0071] Figure 2 This is a schematic diagram of the assembly and alignment process of the bearing and the brake disc according to an embodiment of the present application;

[0072] Figure 3 A schematic diagram of a first mounting surface of a bearing to be assembled according to an embodiment of the present application;

[0073] Figure 4 A schematic diagram of a second mounting surface of a brake disc to be assembled according to an embodiment of the present application;

[0074] Figure 5 This is a structural block diagram of a bearing and brake disc assembly control device according to an embodiment of the present application;

[0075] Figure 6 A schematic diagram of the hardware connection relationship of an electronic device for executing a bearing and brake disc assembly control method according to an embodiment of the present application;

[0076] Figure 7 This is a structural block diagram of a bearing and brake disc assembly control system described in one embodiment of the present application. DETAILED DESCRIPTION

[0077] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application and are not used to limit the present application.

[0078] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0079] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0080] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0081] This embodiment provides a bearing and brake disc assembly control method, which is applied to the control system of a workpiece assembly production line. The control system can control the mechanical arm to drive the gripper to automatically grasp the bearing and the brake disc, and can control the robot that performs the assembly to automatically assemble the bearing and the brake disc. In the control system, a spatial coordinate system is pre-established, and the positions of various components or devices such as the material frame where the bearing is located, the material frame where the brake disc is located, and the assembly table are marked in the spatial coordinate system, so that a trajectory can be automatically generated for the mechanical arm, and the movement of the mechanical arm can be controlled according to the action to be performed by the mechanical arm.

[0082] In specific implementation, in addition to the gripper, the robot arm can also be equipped with a camera, which can capture images and send them to the control system. The control system can determine the movement trajectory of the gripper based on the captured images. Specifically, Figure 1 As shown, the method comprises the following steps:

[0083] S10: Acquire a first image, where the first image is an image of a material frame where the bearing is located.

[0084] The first image can be obtained by taking a camera, and the first image can be a three-dimensional image. The camera taking the first image can be a camera arranged around the material frame where the bearing is located, or a camera arranged on a robotic arm and moves with the robotic arm.

[0085] If the camera is a camera installed on the robot arm and moves with the robot arm, the first image is captured after the robot arm moves to a specific position around the material frame where the bearing is located. That is, after the control system controls the robot arm to move to the set position, the control system controls the robot arm to stop moving, and then starts the camera to capture the first image, thereby obtaining the first image uploaded by the camera.

[0086] S20: Identify the bearing position in the first image and control the gripper to move to the bearing position to grip the bearing to be assembled.

[0087] In this step, the horizontal position of each bearing in the first image can be determined by processing the pixel values, and the height of each bearing can be determined based on the correspondence between the position of the bearing in the first image and the existing target objects in the space. After the horizontal position and height are determined, the position of the bearing can be determined. When the position of the bearing is determined, the gripper can be controlled to move to the bearing position and control the gripper to perform the gripping action.

[0088] S30: Control the gripper to move to a preset assembly table position and place the bearing to be assembled on the assembly table contour seat.

[0089] The spatial coordinate system has been preset in the control system, and the preset assembly platform position can be pre-stored in the control system, and the robot arm can be directly controlled to move to the preset assembly platform position.

[0090] S40: Acquire a second image, where the second image is an image of the material frame where the brake disc is located.

[0091] The first image can be obtained by taking a camera, and the second image can be a three-dimensional image. The camera for taking the two images can be a camera set around the material frame where the bearing is located, or a camera set on a robotic arm and moves with the robotic arm. When it is a camera set on a robotic arm and moves with the robotic arm, it can be the same camera as the camera for taking the first image, and the method for obtaining the second image is also similar to the method for obtaining the first image.

[0092] S50: Identify the brake disc position in the second image and control the gripper to move to the brake disc position to grip the brake disc to be assembled.

[0093] In this step, the horizontal position of each brake disc can be determined by processing the pixel values ​​of the second image, and the height of each brake disc can be determined based on the correspondence between the position of the brake disc in the second image and the existing target in the space. After the horizontal position and height are determined, the position of the brake disc can be determined. When the position of the brake disc is determined, the gripper can be controlled to move to the position of the brake disc and control the gripper to perform a gripping action.

[0094] S60: Control the gripper to move to a preset assembly table position and place the brake disc to be assembled on the bearing to be assembled.

[0095] The spatial coordinate system has been preset in the control system, and the preset assembly table position can be pre-stored in the control system. The robot arm can be directly controlled to move to the preset assembly table position. At this time, the bearing has been placed on the assembly table. If the brake disc is placed on the assembly table, it should be placed above the bearing.

[0096] S70: Control the robot to assemble the bearing to be assembled and the brake disc to be assembled.

[0097] In this step, the assembly between the bearing to be assembled and the brake disc to be assembled can be achieved by a robot, and an appropriate robot can be selected according to the actual assembly action. For example, if the fixing bolt needs to be tightened, a robot that performs the tightening action is selected to achieve it.

[0098] The present application provides the above scheme, by taking images of the material frame where the bearing is located and the material frame where the brake disc is located, obtaining a first image and a second image, identifying the position of the bearing in the first image, controlling the gripper to automatically grab the bearing and move it to the preset assembly table position and place the bearing to be assembled on the assembly table contour seat, identifying the position of the brake disc in the second image, controlling the gripper to automatically grab the brake disc and move it to the preset assembly table position and place the brake disc to be assembled on the bearing to be assembled, and controlling the robot to automatically perform the assembly action to complete the assembly of the bearing and the brake disc. The above scheme of the present application does not require human participation in the entire assembly process, and the grabbing, handling and assembly are all automatically realized, which greatly improves the assembly efficiency.

[0099] In the embodiment of the present application, the bearing to be assembled and the brake disc to be assembled need to be aligned during assembly, such as Figure 2 As shown, a plurality of mounting parts A11 are formed on the bearing A1 to be assembled, and a plurality of mounting holes A21 are formed on the brake disc A2 to be assembled. During assembly, it is necessary to ensure that each mounting part A11 can be inserted into the mounting hole A21 accordingly. On this basis, the bearing and brake disc assembly control method in the above scheme of the present application, the step S60, further includes:

[0100] S601: After determining that the gripper has moved to the preset assembly station position, determining whether the alignment result between the brake disc to be assembled and the bearing to be assembled meets the assembly requirements.

[0101] The assembly requirement is to ensure that each mounting part A11 can be inserted into the mounting hole A21 accordingly when the brake disc A2 to be assembled is placed on the bearing A1 to be assembled.

[0102] S602: If the alignment result does not meet the assembly requirements, the gripper action is controlled to adjust the position and / or angle of the brake disc to be assembled, so that the brake disc to be assembled is aligned with the bearing to be assembled and then the brake disc to be assembled is placed on the bearing to be assembled.

[0103] If the recognition result is that it is not possible to ensure that each mounting part A11 can be inserted into the mounting hole A21 accordingly, the gripper action is controlled, and the gripper can be moved, rotated in plane, rotated vertically, etc. At this time, the brake disc A2 to be assembled is controlled by the gripper, and the position, angle, etc. of the brake disc A2 to be assembled can be adjusted by adjusting the gripper until each mounting part A11 can be inserted into the mounting hole A21 accordingly, and then the brake disc A2 to be assembled is placed on the bearing A1 to be assembled, so that it can be assembled directly.

[0104] In specific implementation, in the above steps, the alignment result between the brake disc to be assembled and the bearing to be assembled is determined by the following method:

[0105] S6011: Acquire a first mounting surface image of the bearing to be assembled.

[0106] The first mounting surface of the bearing to be assembled refers to the side of the bearing to be assembled opposite to the brake disc to be assembled. It can be determined by taking a picture with a camera, and this image can be a two-dimensional image or a three-dimensional image. The camera can be set on a mechanical arm, and at this time the mechanical arm drives the brake disc to be assembled to move above the bearing to be assembled, so the camera on the mechanical arm can capture the image of the first mounting surface, and the image can be as follows: Figure 3 shown.

[0107] S6012: Identify mounting components in the first mounting surface image.

[0108] In specific implementation, the circular pattern in the first mounting surface image can be identified, and whether it is a mounting part can be determined based on the diameter of the identified circular pattern. As shown in the figure, there is also a circular hole with a larger diameter in the middle of the bearing to be assembled. When the circular pattern is identified, it can be determined that it is not a mounting part based on its large diameter. Obviously, the diameter of the mounting part A11 in the figure is relatively small.

[0109] S6013: Acquire a second mounting surface image of the brake disc to be assembled.

[0110] The second mounting surface of the brake disc to be assembled refers to the side of the brake disc to be assembled opposite to the bearing to be assembled. It can be determined by shooting with a camera. This image can be a two-dimensional image or a three-dimensional image. The camera can be set on the robot arm. In this case, the camera can also be placed on the assembly table to directly shoot the bottom surface of the brake disc grasped by the robot arm gripper. The image can be as follows: Figure 4 shown.

[0111] S6014: Identify mounting holes in the second mounting surface image.

[0112] In specific implementation, the circular pattern in the second mounting surface image can be identified, and whether it is a mounting hole can be determined based on the diameter of the identified circular pattern. As shown in the figure, there is also a circular hole with a larger diameter in the middle of the brake disc to be assembled. When the circular pattern is identified, it can be determined that it is not a mounting hole based on its large diameter. Obviously, the diameter of the mounting hole A21 in the figure is relatively small.

[0113] S6015: If the mounting hole coincides with the projection surface of the mounting component, the alignment result between the brake disc to be assembled and the bearing to be assembled meets the assembly requirements.

[0114] If the projection of the mounting member A11 and the projection of the mounting hole A21 are coincident, it can be clearly shown that the two are aligned, and the brake disc to be assembled can be placed on the bearing to be assembled.

[0115] In some solutions, in the above steps, the alignment result between the brake disc to be assembled and the bearing to be assembled can also be determined in the following manner:

[0116] S60A: Acquire a first mounting surface image of the bearing to be assembled.

[0117] The method of acquiring the first installation surface image may refer to step S6011.

[0118] S60B: Identify a first alignment feature hole in the first mounting surface image.

[0119] like Figure 3 As shown, the first alignment feature hole is hole A12 in the figure.

[0120] S60C: Acquire a second mounting surface image of the brake disc to be assembled.

[0121] The method for acquiring the second installation surface image may refer to step S6013.

[0122] S60D: Identify a second alignment feature hole in the second mounting surface image.

[0123] like Figure 4 As shown, the second alignment feature hole is hole A22 in the figure.

[0124] S60E: If the projection surface of the second alignment feature hole coincides with the projection surface of the first alignment feature hole, the alignment result of the brake disc to be assembled and the bearing to be assembled meets the assembly requirement.

[0125] Combination Figure 2-Figure 4 When aligning the brake disc to be assembled and the bearing to be assembled, if the two alignment feature holes can be completely overlapped in the projection direction, it can be said that the brake disc to be assembled and the bearing to be assembled have been aligned, and subsequent assembly operations can be continued.

[0126] Furthermore, in the above solution, whether the projection surface of the second alignment feature hole overlaps with the projection surface of the first alignment feature hole can be determined by the following method:

[0127] SE1: Obtain a first connecting line between the center of the first alignment feature hole and the center of the bearing to be assembled.

[0128] After the first alignment feature hole and the center hole of the bearing to be assembled are identified, the centers of the two circular holes can be determined, and the first connecting line can be obtained by directly connecting the two centers.

[0129] SE2: Obtain a second connection line between the second alignment feature hole and the center of the brake disc to be assembled.

[0130] After the second alignment feature hole and the center hole of the brake disc to be assembled are identified, the centers of the two circular holes can be determined, and the second connecting line can be obtained by directly connecting the two centers.

[0131] SE3: Obtain the angle between the second connecting line and the first connecting line.

[0132] The angle can be determined by directly projecting the first connecting line and the second connecting line onto the same plane.

[0133] SE4: If the included angle is smaller than the set angle difference, it is determined that the projection planes of the second alignment feature hole and the first alignment feature hole coincide with each other.

[0134] Theoretically, if the two are completely overlapped, the angle should be zero. Considering a certain allowable error range, in this step, it is considered that the two are aligned when the angle is less than the set angle difference.

[0135] Further, obtaining the angle between the second connecting line and the first connecting line includes:

[0136] E31: Obtain a first angle between the first connecting line and a preset shooting reference line; obtain a second angle between the second connecting line and the preset shooting reference line.

[0137] The preset shooting reference line may be any pre-set straight line, for example, a pixel connection line in the middle row of the image is used as the reference line.

[0138] After the first connecting line and the second connecting line are obtained, a triangle formed by any two lines and the vertical straight line can be determined in the image, and the included angle to be calculated can be calculated using the triangle theorem.

[0139] E32: Obtain a difference between the first angle and the second angle as the angle.

[0140] That is, the size of the angle can be obtained by subtracting the first angle from the second angle.

[0141] In some embodiments, the step S30 of controlling the gripper to move to a preset assembly table position and placing the bearing to be assembled on the assembly table contour seat includes:

[0142] S301: After determining that the gripper has moved to the preset assembly table position, an image of the placement surface of the bearing to be assembled is obtained.

[0143] The placement surface image refers to the image of the side opposite to the bearing to be assembled and the assembly table contour seat, and the image can be obtained by taking pictures with a camera arranged on the robot arm or a camera arranged on the assembly table.

[0144] S302: Acquire the placement surface image of the preset assembly table contour seat.

[0145] The surface on the assembly table used for placing the bearing to be assembled is used as the placement surface, and the placement surface image is the image of the surface, which can be obtained by taking a picture with a camera arranged on the robot arm.

[0146] S303: Determine whether the placement surface image matches the installation surface image.

[0147] That is, determining whether the placement surface image matches the placement surface image is used to determine whether the bearing to be assembled can be directly placed in the contour seat when it is placed on the assembly table.

[0148] S304: If the projection surface of the placement surface image matches the placement surface image, the bearing to be assembled is placed on the assembly table contour seat.

[0149] That is, the bearing to be assembled is placed on the contour seat after the bearing to be assembled and the contour seat can be aligned.

[0150] In this solution, the contour seat is used as a reference, and then the bearing to be assembled and the brake disc to be assembled are placed in sequence to facilitate assembly.

[0151] In the above solution, the step of obtaining the placement surface image of the bearing to be assembled includes:

[0152] S3A: Acquire a third image, where the third image is an initial captured image of the placement surface of the bearing to be assembled.

[0153] The placement surface of the bearing to be assembled can be photographed by a camera arranged on a robot arm or a camera arranged on an assembly table.

[0154] S3B: Calling the bearing template to match the image.

[0155] Pre-taken images of various bearings can be used as templates.

[0156] S3C: Matching the initial captured image with the bearing template matching image to determine a placement surface image of the bearing to be assembled in the initial captured image.

[0157] The initial captured image and the template may be directly compared. If an image identical or similar to that in the template can be segmented out from the initial captured image, it can be considered that the segmented image corresponds to the bearing to be assembled.

[0158] S3D: Obtain the center of the mounting part in the placement surface image.

[0159] By identifying the circle in the installation surface image, it is determined whether to install a component according to the diameter of the circle, and the center of the circle can be determined after the installation component is identified.

[0160] S3E: Connect the centers of any two of the mounting parts to obtain a mounting part connection line.

[0161] The number of mounting parts is determined according to the actual situation of the bearing to be assembled, and can be four, five, etc. Assuming that there are four mounting parts, six mounting part connection lines can be obtained by connecting the centers of any two mounting parts.

[0162] S3F: Acquire the shortest installation component connection line as a reference line, and use the deflection angle between the reference line and a preset shooting reference line as the deflection angle of the bearing to be assembled.

[0163] Generally, when the placement surface of the bearing to be assembled has four circular holes, it is not a square, and the placement of the contour seat of the placement surface of the bearing to be assembled requires that the bearing to be assembled be placed in the contour seat in the form of a fixed angle of the long side, so it is necessary to identify the placement surface of the bearing to be assembled.

[0164] S3G: If the deflection angle is consistent with the deflection angle parameter recorded in the placement surface image, it is determined that the projection surface of the placement surface image matches the placement surface image.

[0165] In this scheme, the shortest installation part connection line is selected as the reference line. The difference in deflection angle between the shortest installation part connection line and the preset shooting reference line is measured and compared with the pre-defined standard deflection angle parameters to obtain the deflection angle of the bearing to be assembled. In order to enable normal assembly, the deflection angle is theoretically equal to the recorded deflection angle parameter. Taking into account the existence of allowable errors, this scheme can be considered that if the difference between the two is within the allowable error range.

[0166] The present application embodiment provides a bearing and brake disc assembly control device, such as Figure 5 As shown, including:

[0167] The first image acquisition module 10 is configured to acquire a first image, which is an image of the material frame where the bearing is located. The first image can be obtained by photographing a camera, and the first image can be a three-dimensional image. The camera that photographs the first image can be a camera set around the material frame where the bearing is located, or a camera set on a robotic arm that moves with the robotic arm. If the camera is a camera set on the robotic arm that moves with the robotic arm, the first image is photographed after the robotic arm moves to a specific position around the material frame where the bearing is located. That is, after the control system controls the robotic arm to move to the set position, the control system controls the robotic arm to stop moving, and then starts the camera to photograph the first image, and the first image uploaded by the camera is obtained.

[0168] The first analysis module 20 is configured to identify the bearing position in the first image and control the gripper to move to the bearing position to grab the bearing to be assembled; the position of each bearing can be determined by processing the first image, and when the bearing position is determined, the gripper can be controlled to move to the bearing position and control the gripper to perform a grabbing action.

[0169] The gripper control module 30 is configured to control the gripper to move to the preset assembly table position and place the bearing to be assembled on the assembly table contour seat; the spatial coordinate system has been preset in the control system, and the preset assembly table position can be pre-stored in the control system, and the robot arm can be directly controlled to move to the preset assembly table position.

[0170] The second image acquisition module 40 is configured to acquire a second image, which is an image of the material frame where the brake disc is located; the second image can be obtained by shooting with a camera, and the second image can be a three-dimensional image. The camera that shoots the second image can be a camera set around the material frame where the bearing is located, or a camera set on the robot arm and moves with the robot arm. When it is a camera set on the robot arm and moves with the robot arm, it can be the same as the camera that shoots the first image, and the method of acquiring the second image is also similar to the method of acquiring the first image.

[0171] The second analysis module 50 is configured to identify the brake disc position in the second image and control the gripper to move to the brake disc position to grab the brake disc to be assembled; the position of each brake disc can be determined by processing the second image, and when the position of the brake disc is determined, the gripper can be controlled to move to the brake disc position and control the gripper to perform a grabbing action.

[0172] The gripper control module 30 is also used to control the gripper to move to the preset assembly platform position and place the brake disc to be assembled on the bearing to be assembled; the spatial coordinate system has been preset in the control system, and the preset assembly platform position can be pre-stored in the control system, and the robot arm can be directly controlled to move to the preset assembly platform position. At this time, the bearing has been placed on the assembly platform, and if the brake disc is placed on the assembly platform, it should be placed above the bearing.

[0173] The assembly control module 60 controls the robot to assemble the bearing to be assembled and the brake disc to be assembled. The assembly between the bearing to be assembled and the brake disc to be assembled can be achieved by a robot, and an appropriate robot can be selected according to the actual assembly action. For example, if the fixing bolt needs to be tightened, a robot that performs the tightening action is selected to achieve it.

[0174] The present application provides the above device, which obtains a first image and a second image by taking images of the material frame where the bearing is located and the material frame where the brake disc is located, identifies the position of the bearing in the first image, and controls the gripper to automatically grab the bearing and move it to the preset assembly table position and place the bearing to be assembled on the assembly table contour seat, identifies the position of the brake disc in the second image, and controls the gripper to automatically grab the brake disc and move it to the preset assembly table position and place the brake disc to be assembled on the bearing to be assembled, and controls the robot to automatically perform the assembly action to complete the assembly of the bearing and the brake disc. The above scheme of the present application does not require manual participation in the entire assembly process, and the grabbing, handling and assembly are all automatically realized, which greatly improves the assembly efficiency.

[0175] In the embodiment of the present application, the gripper control module 60 is also used to determine whether the alignment result of the brake disc to be assembled and the bearing to be assembled meets the assembly requirements after the gripper moves to the preset assembly station position; if the alignment result does not meet the assembly requirements, the gripper action is controlled to adjust the position and / or angle of the brake disc to be assembled, so that the brake disc to be assembled is aligned with the bearing to be assembled and then the brake disc to be assembled is placed on the bearing to be assembled; the assembly requirement is that when the brake disc to be assembled is placed on the bearing to be assembled, it can ensure that each mounting part can be inserted into the mounting hole accordingly. If the recognition result is that it is not possible to ensure that each mounting part can be inserted into the mounting hole accordingly, the gripper action is controlled at this time, and the gripper can be moved, rotated in plane, rotated vertically, etc. At this time, the brake disc to be assembled is controlled by the gripper, and the gripper can be adjusted to adjust the position, angle, etc. of the brake disc to be assembled, until each mounting part can be inserted into the mounting hole accordingly, and then the brake disc to be assembled is placed on the bearing to be assembled, so that assembly can be performed directly.

[0176] In some schemes, the gripper control module 60 obtains the first mounting surface image of the bearing to be assembled. Identifies the mounting part in the first mounting surface image. Obtains the second mounting surface image of the brake disc to be assembled. Identifies the mounting hole in the second mounting surface image. If the mounting hole coincides with the projection surface of the mounting part, the alignment result of the brake disc to be assembled and the bearing to be assembled meets the assembly requirements. Among them, the first mounting surface of the bearing to be assembled refers to the side of the bearing to be assembled opposite to the brake disc to be assembled. It can be determined by shooting with a camera, and this image can be a two-dimensional image or a three-dimensional image. The camera can be set on a mechanical arm, and at this time the mechanical arm drives the brake disc to be assembled to move above the bearing to be assembled, so the camera on the mechanical arm can capture the first mounting surface image. The circular pattern in the first mounting surface image can be identified, and it can be determined whether it is a mounting part according to the diameter of the identified circular pattern. There is also a circular hole with a larger diameter in the middle of the bearing to be assembled. When the circular pattern is identified, it can be determined that it does not belong to the mounting part according to its excessively large diameter. Obviously, the diameter of the mounting part is small. The second mounting surface of the brake disc to be assembled refers to the side of the brake disc to be assembled opposite to the bearing to be assembled. It can be determined by shooting with a camera, and this image can be a two-dimensional image or a three-dimensional image. The camera can be set on a mechanical arm. In this case, the camera can also be placed on an assembly table to directly shoot the bottom surface of the brake disc grasped by the gripper of the mechanical arm. By identifying the circular pattern in the image of the second mounting surface, it is determined whether it is a mounting hole according to the diameter of the identified circular pattern. There is also a circular hole with a larger diameter in the middle of the brake disc to be assembled. When the circular pattern is identified, it can be determined that it does not belong to the mounting hole according to its excessive diameter. Obviously, the diameter of the mounting hole in the figure is smaller. If the projection of the mounting part and the projection surface of the mounting hole overlap, it can obviously be shown that the two have been aligned, and the brake disc to be assembled can be placed on the bearing to be assembled.

[0177] In some schemes, the gripper control module 60 is further used to obtain the first mounting surface image of the bearing to be assembled, identify the first alignment feature hole in the first mounting surface image, obtain the second mounting surface image of the brake disc to be assembled, identify the second alignment feature hole in the second mounting surface image, and if the second alignment feature hole coincides with the projection surface of the first alignment feature hole, the alignment result of the brake disc to be assembled and the bearing to be assembled meets the assembly requirements. When aligning the brake disc to be assembled and the bearing to be assembled, if the two alignment feature holes can completely coincide in the projection direction, it can be said that the brake disc to be assembled and the bearing to be assembled have been aligned, and the subsequent assembly operation can continue.

[0178] Further, the gripper control module 60 is also used to obtain a first connecting line between the center of the first alignment feature hole and the center of the bearing to be assembled, obtain a second connecting line between the second alignment feature hole and the center of the brake disc to be assembled, and obtain the angle between the second connecting line and the first connecting line. If the angle is less than the set angle difference, it is determined that the projection surface of the second alignment feature hole and the first alignment feature hole coincides. After identifying the first alignment feature hole and the center hole of the bearing to be assembled, the centers of the two circular holes can be determined, and the first connecting line can be obtained by directly connecting the two centers. After identifying the second alignment feature hole and the center hole of the brake disc to be assembled, the centers of the two circular holes can be determined, and the second connecting line can be obtained by directly connecting the two centers. The angle can be determined by directly projecting the first connecting line and the second connecting line onto the same plane. Theoretically, if the two completely coincide, the angle should be zero. Considering a certain error tolerance range, in this step, it is considered that the two are aligned when the angle is less than the set angle difference.

[0179] Furthermore, the gripper control module 60 is also used to obtain a first angle between the first connecting line and a preset shooting reference line; obtain a second angle between the second connecting line and the preset shooting reference line, and obtain the difference between the first angle and the second angle as the angle. The preset shooting reference line can be any pre-set straight line, for example, the pixel connecting line in the middle row of the picture is used as the reference line. After obtaining the first connecting line and the second connecting line, the triangle formed by any two lines and the vertical straight line can be determined in the image, and the angle to be calculated can be calculated using the triangle theorem. The size of the angle can be obtained by subtracting the first angle from the second angle.

[0180] In some schemes, the gripper control module 30 is also used to determine that after the gripper moves to the preset assembly platform position, the placement surface image of the bearing to be assembled is obtained, the placement surface image of the preset assembly platform profiling seat is obtained, and it is judged whether the placement surface image matches the placement surface image. If the projection surface of the placement surface image matches the placement surface image, the bearing to be assembled is placed on the assembly platform profiling seat. The placement surface image refers to the image of the opposite side of the bearing to be assembled and the assembly platform profiling seat, and the image can be obtained by shooting with a camera arranged on a mechanical arm, or by shooting with a camera arranged on an assembly platform. The face used for placing the bearing to be assembled on the assembly platform is used as the placement surface, and the placement surface image is the image of the face, which can be obtained by shooting with a camera arranged on a mechanical arm. Determining whether the placement surface image matches the placement surface image is used to judge whether the bearing to be assembled can be directly placed in the profiling seat when it is placed on the assembly platform at this time. After the bearing to be assembled and the profiling seat can be aligned, the bearing to be assembled is placed on the profiling seat. Using the contour seat as a reference, the bearing to be assembled and the brake disc to be assembled are then placed in sequence for easy assembly.

[0181] In the above scheme, the gripper control module 30 is also used to obtain a third image, which is an initial shot image of the placement surface of the bearing to be assembled, call the bearing template matching image, match the initial shot image with the bearing template matching image, determine the placement surface image of the bearing to be assembled in the initial shot image, obtain the center of the mounting part in the placement surface image, connect the centers of any two mounting parts to obtain the mounting part connection line, obtain the mounting part connection line with the shortest length as a reference line, and use the deflection angle between the reference line and the preset shooting reference line as the deflection angle of the bearing to be assembled. If the deflection angle is consistent with the deflection angle parameter recorded in the placement surface image, it is determined that the projection surface of the placement surface image matches the placement surface image. In this scheme, the placement surface of the bearing to be assembled is photographed by a camera set on the robot arm or a camera set on the assembly table. The images of various bearings taken in advance can be used as templates, and the initial shot image can be directly compared with the template. If an image that is the same or similar to the template can be cut out in the initial shot image, it can be considered that the cut image corresponds to the bearing to be assembled. By identifying the circle in the image of the mounting surface, it is determined whether the mounting part is installed according to the diameter of the circle, and the center of the circle can be determined after the mounting part is identified. In the above scheme, the number of mounting parts is determined according to the actual situation of the bearing to be assembled, which can be four, five, etc. Assuming that there are four mounting parts, six mounting part connection lines can be obtained after the centers of any two mounting parts are connected. Under normal circumstances, when the placement surface of the bearing to be assembled has four circular holes, it is not a square, and the placement of the profiling seat of the placement surface of the bearing to be assembled requires that the bearing to be assembled is placed in the profiling seat in the form of a fixed angle of the long side, so it is necessary to identify the placement surface of the bearing to be assembled. In this scheme, the shortest mounting part connection line is selected as the reference line, and the deflection angle difference between the shortest mounting part connection line and the preset shooting reference line is measured, and compared with the pre-defined standard deflection angle parameter, the deflection angle of the bearing to be assembled is obtained. In order to be able to assemble normally, the deflection angle is theoretically equal to the recorded deflection angle parameter. Considering the existence of the allowable error, it can be considered in this scheme that if the difference between the two is within the allowable error range.

[0182] An embodiment of the present application provides a storage medium, in which program information is stored. After a computer reads the program information, it executes the bearing and brake disc assembly control method described in any one of the above-mentioned embodiments.

[0183] The present application also provides an electronic device, such as Figure 6The electronic device includes at least one processor 61 and at least one memory 62, at least one of the memories 62 stores program information, and at least one of the processors 61 reads the program information and executes the bearing and brake disc assembly control method described in any one of the above method embodiments. The device may also include: an input device 63 and an output device 64. The processor 61, the memory 62, the input device 63 and the output device 64 can be connected in communication. The memory 62, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The processor 61 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 62, that is, the bearing and brake disc assembly control method provided by any of the above schemes is implemented. The memory 62 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the bearing and brake disc assembly control method, etc. In addition, the memory 62 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 62 may optionally include a memory remotely arranged relative to the processor 61, and these remote memories may be connected to the device for executing the bearing and brake disc assembly control method through a network. Examples of the above-mentioned network include but are not limited to the Internet, an internal network of an enterprise, a local area network, a mobile communication network and a combination thereof. The input device 63 may receive input user clicks, and generate signal inputs related to user settings and function control of the bearing and brake disc assembly control method. The output device 64 may include a display device such as a display screen. When the one or more modules are stored in the memory 62, when they are run by the one or more processors 61, the bearing and brake disc assembly control method in any of the above-mentioned method embodiments is executed.

[0184] In some embodiments, a bearing and brake disc assembly control system is provided, such as Figure 7As shown, it includes the electronic device described in the above embodiment, and also includes a three-dimensional camera 71, which is arranged on the material frame where the bearing is located and the material frame where the brake disc is located, and the three-dimensional camera 71 captures a three-dimensional target image and sends the three-dimensional target image to the electronic device, and the three-dimensional target image includes an image of the material frame where the bearing is located and an image of the material frame where the brake disc is located; a mechanical arm 72, and the mechanical arm 72 is equipped with a gripper 73; a two-dimensional camera 74, which is arranged on the mechanical arm 72 and on a pre-set assembly table; the electronic device identifies the target position of the bearing or the brake disc in the three-dimensional target image, and controls the mechanical arm 72 to move to the target position under the control of the electronic device. , the target position includes the position of the material frame where the bearing is located, the position of the material frame where the brake disc is located and the preset assembly table position; the two-dimensional camera 74 captures a two-dimensional target image under the control of the electronic device and sends the two-dimensional target image to the electronic device; the two-dimensional target image includes an installation surface image of the bearing to be assembled, an installation surface image of the brake disc to be assembled, a placement surface image of the bearing to be assembled and an initial captured image of the placement surface of the bearing to be assembled; the gripper 73 grabs, adjusts or places the bearing to be assembled or the brake disc to be assembled under the control of the electronic device; the robot 75 assembles the bearing to be assembled and the brake disc to be assembled under the control of the electronic device

[0185] The control system provided in the above-mentioned embodiment of the present application coordinates the actions of the three-dimensional camera 71, the robotic arm 72, the gripper 73, the two-dimensional camera 74 and the assembly robot 75 through electronic equipment, thereby realizing the automated assembly of the bearings to be assembled and the brake discs to be assembled.

[0186] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A bearing and brake disc assembly control method, characterized in that: include: Acquire a first image, where the first image is an image of a material frame where the bearing is located; Identify the bearing position in the first image and control the gripper to move to the bearing position to grab the bearing to be assembled; Control the gripper to move to a preset assembly table position and place the bearing to be assembled on the assembly table contour seat; Acquire a second image, where the second image is an image of a material frame where the brake disc is located; Identify the brake disc position in the second image and control the gripper to move to the brake disc position to grip the brake disc to be assembled; Controlling the gripper to move to a preset assembly table position and placing the brake disc to be assembled on the bearing to be assembled; The robot is controlled to assemble the bearing to be assembled and the brake disc to be assembled.

2. The bearing and brake disc assembly control method according to claim 1, characterized in that: The controlling the gripper to move to the preset assembly station position and placing the brake disc to be assembled on the bearing to be assembled also includes: After determining that the gripper moves to the preset assembly station position, judging whether the alignment result between the brake disc to be assembled and the bearing to be assembled meets the assembly requirements; If the alignment result does not meet the assembly requirements, the gripper action is controlled to adjust the position and / or angle of the brake disc to be assembled, so that the brake disc to be assembled is aligned with the bearing to be assembled and then the brake disc to be assembled is placed on the bearing to be assembled.

3. The bearing and brake disc assembly control method according to claim 2, characterized in that: The determining of the alignment result between the brake disc to be assembled and the bearing to be assembled comprises: Acquire a first mounting surface image of the bearing to be assembled; identifying a mounting component in the first mounting surface image; Acquire a second mounting surface image of the brake disc to be assembled; identifying mounting holes in the second mounting surface image; If the mounting hole coincides with the projection surface of the mounting member, the alignment result between the brake disc to be assembled and the bearing to be assembled meets the assembly requirements.

4. The bearing and brake disc assembly control method according to claim 2, characterized in that: The determining of the alignment result between the brake disc to be assembled and the bearing to be assembled comprises: Acquire a first mounting surface image of the bearing to be assembled; identifying a first alignment feature hole in the first mounting surface image; Acquire a second mounting surface image of the brake disc to be assembled; identifying a second alignment feature hole in the second mounting surface image; If the projection surface of the second alignment feature hole coincides with the projection surface of the first alignment feature hole, the alignment result between the brake disc to be assembled and the bearing to be assembled meets the assembly requirement.

5. The bearing and brake disc assembly control method according to claim 4, characterized in that: Determine whether the projection surface of the second alignment feature hole coincides with the projection surface of the first alignment feature hole by the following method: Obtaining a first connecting line between the center of the first alignment feature hole and the center of the bearing to be assembled; Obtaining a second connection line between the second alignment feature hole and the center of the brake disc to be assembled; Obtaining an angle between the second connecting line and the first connecting line; If the included angle is smaller than the set angle difference, it is determined that the projection planes of the second alignment feature hole and the first alignment feature hole coincide with each other.

6. The bearing and brake disc assembly control method according to claim 5, characterized in that: The obtaining the angle between the second connecting line and the first connecting line includes: Obtaining a first angle between the first connecting line and a preset shooting reference line; Obtaining a second angle between the second connecting line and the preset shooting reference line; A difference between the first angle and the second angle is obtained as the angle.

7. The bearing and brake disc assembly control method according to claim 1, characterized in that: The method of controlling the gripper to move to a preset assembly table position and placing the bearing to be assembled on the assembly table contour seat comprises: After determining that the gripper moves to the preset assembly table position, acquiring the placement surface image of the bearing to be assembled; Acquire a placement surface image of a preset assembly table contour seat; determining whether the placement surface image matches the placement surface image; If the projection surface of the placement surface image matches the placement surface image, the bearing to be assembled is placed on the assembly table contour seat.

8. The bearing and brake disc assembly control method according to claim 7, characterized in that: The step of obtaining the placement surface image of the bearing to be assembled comprises: Acquire a third image, wherein the third image is an initial photographed image of the placement surface of the bearing to be assembled; Call the bearing template matching image; Matching the initial photographed image with the bearing template matching image to determine a placement surface image of the bearing to be assembled in the initial photographed image; Obtaining the center of the mounting component in the placement surface image; Connecting the centers of any two of the mounting parts to obtain a mounting part connection line; Obtaining the shortest installation part connection line as a reference line, and taking the deflection angle between the reference line and a preset shooting reference line as the deflection angle of the bearing to be assembled; If the deflection angle is consistent with the deflection angle parameter recorded in the placement surface image, it is determined that the projection surface of the placement surface image matches the placement surface image.

9. A bearing and brake disc assembly control device, characterized in that: include: A first image acquisition module is configured to acquire a first image, wherein the first image is an image of a material frame where the bearing is located; A first parsing module is configured to identify a bearing position in the first image and control a gripper to move to the bearing position to grab the bearing to be assembled; A gripper control module is configured to control the gripper to move to a preset assembly table position and place the bearing to be assembled on the assembly table contour seat; A second image acquisition module is configured to acquire a second image, where the second image is an image of a material frame where the brake disc is located; A second parsing module is configured to identify the brake disc position in the second image and control the gripper to move to the brake disc position to grip the brake disc to be assembled; The gripper control module is further used to control the gripper to move to a preset assembly table position and place the brake disc to be assembled on the bearing to be assembled; An assembly control module controls the robot to assemble the bearing to be assembled and the brake disc to be assembled.

10. A storage medium, characterized in that: The storage medium stores program information, and the computer reads the program information to execute the bearing and brake disc assembly control method according to any one of claims 1 to 8.

11. An electronic device, characterized in that: The electronic device includes at least one processor and at least one memory, at least one of the memories stores program information, and at least one of the processors reads the program information and executes the bearing and brake disc assembly control method according to any one of claims 1-8.

12. A bearing and brake disc assembly control system, characterized in that: The electronic device according to claim 11 further comprises: A three-dimensional camera is arranged on a material frame where the bearing is located and a material frame where the brake disc is located, and the three-dimensional camera captures a three-dimensional target image and sends the three-dimensional target image to the electronic device, wherein the three-dimensional target image includes an image of the material frame where the bearing is located and an image of the material frame where the brake disc is located; A robotic arm, wherein the robotic arm is provided with a gripper; A two-dimensional camera is arranged on the mechanical arm and the pre-installed assembly table; The electronic device identifies the target position of the bearing or the brake disc in the three-dimensional target image, and controls the robot arm to move to the target position under the control of the electronic device, wherein the target position includes the position of the material frame where the bearing is located, the position of the material frame where the brake disc is located, and the position of the preset assembly table; The two-dimensional camera captures a two-dimensional target image under the control of the electronic device and sends the two-dimensional target image to the electronic device; the two-dimensional target image includes an installation surface image of a bearing to be assembled, an installation surface image of a brake disc to be assembled, a placement surface image of a bearing to be assembled, and an initial captured image of the placement surface of the bearing to be assembled; The gripper grabs, adjusts or places the bearing to be assembled or the brake disc to be assembled under the control of the electronic device; A robot assembles the bearing to be assembled and the brake disc to be assembled under the control of the electronic equipment.

Images