Abstract: Aiming at the problem of high labor intensity and low work efficiency of manual assembly in the assembly process of roller line drive disc, an automatic assembly system based on 3D vision and robot is designed. The 3D point cloud image of the driver disk is obtained by Pro S Enhanced industrial camera, and the point cloud image is preprocessed by point cloud filtering, point cloud clustering segmentation and point cloud matching. The position and attitude of the drive disk are obtained with KUKA industrial robot. The experimental results show that the positioning error of the system is less than 0.5 mm and the assembly time is 12 s. Compared with the traditional manual assembly, the assembly beat is increased by 50%, and the production site runs stably and reliably to meet the production needs of enterprises.