Method and assembly system for automated machine based product assembling

An assembly system for automated machine-based product assembling, by which to assemble a product on a modular basis from product parts to be assembled the product assembling is split into two separate operations, herein:

• a) at least one automated machine, which
• a1) in the course of a logistic distribution operation
• a11) fetches from a delivery area of product parts product parts,
• a12) places the fetched product parts part-by-part at a hand-over area for product parts to handover on distribution fixtures of a modular semantic fixture system, which is product part specific and assembly process flexible, and
• a13) localizes the distribution fixtures optically,
• a2) in the course of an assembly operation
• a21) fetches from the distribution fixture a product part of the product parts,
• a22) places the fetched product part at an assembly workspace for product parts to assemble on assembly fixtures of the modular semantic fixture system and
• a23) localizes the assembly fixtures optically,
• b) an automated-machine-control-unit connected with the at least one automated machine thereby forming a technical, functional subsystem and designed configured such that
• b1) an “automated machine motion generation”-module computes by generating a collision-free automated machine motion or automated machine path planning
• b11) primary kinematic machine-motion-sequences MAMA to enable the automated machine fetching and the automated machine placing of the at least one automated machine in the course of the distribution operation;
• and
• b12) secondary kinematic machine-motion-sequences to enable the automated machine fetching and the automated machine placing of the at least one automated machine in the course of the assembly operation, which are provided fps to an “automated machine motion execution”-module executing (exe) the computed sequences on the at least one automated machine,
• b2) a hybrid, at least reactive and deliberative automated machine architecture is provided to enable or ensure, based on
• a “world model for automated machines”-module as a digital twin to formulate correct automated machine-behavioral sets being used during automated machine run-time, . . .
• a three-dimensional model of an assembly environment within which and information geometric information, of the product, and the product parts, with which the distribution operation and the assembly operation are executed, and
• an “automated machine workflow”-module a piece of automated machine work to carry out the distribution operation, and the assembly operation is passed in series of automated machine stages from initiation to completion, the execution of the primary kinematic machine-motion-sequences and the secondary kinematic machine-motion-sequences via the “automated machine motion generation”-module and the “automated machine motion generation”-module by
• b21) initializing the “world model for automated machines” according to a configuration information configuring an automated machine and the assembly environment and
• b22) instantiating the “machine workflow” and updating the “world model for automated machines” with the information of the product and the product parts.