JPH08155756A - Automatic parts assembling equipment - Google Patents

Abstract

PURPOSE: To miniaturize automatic parts assembling equipment provided with a multi-articulated double arm robot, to reduce the cost, and to efficiently drive the equipment by the simple control. CONSTITUTION: Automatic parts assembling equipment is provided with a horizontal multi-articulated double arm robot 4, an assembly line 1 to carry a semi- product 2 parallel to the robot 4, a tool unit provided with a tool 24 to be fitted to the robot 4 corresponding to parts 20, 21a-21c to be fitted to the semi- product 2, and an assembly table 17 where the robot 4 loads the semi-product 2 taken out of the assembly line and assemble the parts 20, 21a-21c. The prescribed position of the assembly line 1 and the assembly table 17 are arranged in the common working range 13 of the respective arm parts 6L-7R of the robot 4, and a parts feeding unit 18 provided with a parts feeding device to feed the parts 20 to the parts taking-out position A of the robot 4 by transferring a tray 22 capable of storing a plurality of parts 20 is arranged in the different common working range.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic component assembling apparatus equipped with a multi-joint type multi-arm robot. The present invention relates to a component automatic assembly device that can be driven well.

[0002]

2. Description of the Related Art Conventionally, an automatic parts assembling apparatus for manufacturing a product having a desired performance by assembling predesignated parts by a horizontal articulated robot to semi-finished products sequentially conveyed along an assembly line. It is popular. Examples of this type of automatic component assembly apparatus include, for example, two independent horizontal articulated robots that transfer semi-finished products from an assembly line onto a workbench and supply a plurality of component supply units. There is something to assemble.

[0003]

However, in such a conventional example, in the case of assembling work of multiple parts, for example, in the case of assembling the copying machine unit shown in FIG. 7, insertion of the roller 101, Press-fit or insert the gear 102, and screw 103
It is necessary to assemble a considerable number of parts such as tightening. Therefore, it is necessary to arrange a large number of component supply units around the horizontal articulated robot, and if this component supply unit is arranged for each robot (each arm unit), the work range of the arm unit is expanded and the size is increased. However, there was a problem that the cost would be high as well.

Therefore, in the invention according to claim 1, the component supply unit supplies a plurality of components so that any of the arm units can be taken out, thereby reducing the required number of component supply units and increasing the working range of the arm units. The purpose is to provide a compact and inexpensive automatic component assembly apparatus,
Moreover, it is an object of the present invention to realize efficient driving by easy control of a multi-joint type multi-arm robot.

It is an object of the present invention to reduce the area occupied by the component supply unit while devising the transfer so as to reduce the size and improve the efficiency. The invention according to claim 3 aims to reduce wasteful time and improve efficiency. The invention according to claim 4 aims to cover the limit of the working range of the arm part and to improve the application range and efficiency.

[0006]

In order to achieve the above object, the invention according to claim 1 has a pair of arm portions having a distal end portion to which a mechanical hand can be attached and having a proximal end portion attached to a common body portion. A multi-joint type multi-arm robot that assembles parts by moving the arm part in a horizontal plane and in the vertical direction, an assembly line that conveys a semi-finished product in parallel with the robot, and an assembly line for the semi-finished product. A tool unit equipped with an assembly tool that can be attached to a multi-joint type multi-arm robot corresponding to a part, and a semi-finished product taken out from an assembly line by the multi-joint type multi-arm robot, and a part supplied by a part supply unit. In a component automatic assembling apparatus including a work assembling table for assembling the robot, the multi-joint type multi-arm robot has at least two common working ranges for each arm. A predetermined position of the assembly line and a work assembly table are arranged in one of the common work ranges, and the component supply unit is arranged in a common work range different from the work assembly table; The component supply unit includes a component supply device that transfers a tray capable of accommodating a plurality of components and supplies the components to a component extraction position of an articulated multi-arm robot.

According to a second aspect of the present invention, the component supply device moves the tray in the vertical direction and supplies the component to the component extraction position. According to a third aspect of the present invention, the component supply unit dispenses a tray transferred from the component extraction position, and
And a storage unit provided with a plurality of storage locations for storing the tray in a vertical direction below the dispensing unit so that the tray can be transferred from any of the trays, and the component supply device has a support unit for supporting the tray in the vertical direction. The present invention is characterized by comprising a vertical slide mechanism that slides and transfers an arbitrary tray between a component take-out position and a storage section or a payout section.

According to a fourth aspect of the present invention, the component supply device horizontally slides the tray transferred to the component take-out position in a horizontal direction toward a working range peculiar to each arm of the articulated multi-arm robot. It is characterized by having a mechanism. In addition to the component supply unit arranged in the common work range, the component supply means may be arranged in the work range peculiar to each arm part, and the work range peculiar to each arm part is the same. The component supply means may be arranged symmetrically, for example.

[0009]

According to the first aspect of the present invention, the predetermined position of the assembly line and the work assembly table are arranged in one of the common working ranges of the respective arm parts, and the parts are placed in a common working range different from this. A supply unit is provided, and a tray capable of accommodating a plurality of components is transferred by the component supply device of the component supply unit, and the components are supplied to the component extraction position of the articulated multi-arm robot. Therefore, a plurality of components are supplied to the component extraction position of the articulated multi-arm robot by the tray transferred by the component supply unit.

According to the second aspect of the present invention, the tray for supplying the component to the component take-out position is vertically moved by the component supply device. Therefore, it is not necessary to secure a transfer area for the tray in the lateral direction. According to the invention of claim 3,
The tray is vertically stored so that it can be transferred from any of the storage locations of the storage section located below the payout section in the component supply unit, and is supported by the support section of the vertical slide mechanism of the component supply apparatus. It is slid in the vertical direction from the position and is transferred between the component take-out position and the storage section or the payout section. Therefore, it is possible to transfer the tray containing any component from the storage unit in a short time.

According to the fourth aspect of the present invention, the tray transferred to the component take-out position is horizontally slid by the horizontal slide mechanism of the component supply device to the working range side peculiar to each arm of the articulated multi-arm robot. Therefore, even if it is a large part or a tray, all the parts to be housed can be positioned within the common working range of each arm.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. 1 to 6 are views showing an embodiment of an automatic parts assembling apparatus according to the present invention, FIG. 1 is a view showing the entire structure thereof, FIG. 2 is a view showing the articulated multi-arm robot, and FIG. FIG. 4 is a diagram showing the component supply unit, and FIGS. 5 and 6 are diagrams explaining the operation and effect.

First, the structure will be described. In FIG. 1, 1
Is an assembly line, and this assembly line 1 carries an assembly carrier 3 on which a semi-finished product 2 is placed. Further, a horizontal multi-joint type multi-arm robot 4 is provided near the assembly line 1, and the assembly line 1 conveys the semi-finished product 2 in parallel with the robot 4.

As shown in FIG. 2, the horizontal multi-joint type multi-arm robot 4 has first arms 6L and 6R having mechanical hands 5L and 5R at the tips thereof, and the first arms 6L and 6R.
Second arms 7L and 7R each having a tip end portion rotatably connected to the base end portion of the second arm, and the base end portions of the second arms 7L and 7R are connected to the tip end portion to move up and down and rotate. Independent lifting mechanism 8L, 8R and this lifting mechanism 8L, 8R
Each arm 6L, 6R, 7 with the other end of the
And a body portion 9 common to L and 7R, and the first arm 6
Actuators 10L and 10R for rotating the mechanical hands 5L and 5R and detaching the hands 5L and 5R and exchanging a tool 24 which will be described later are provided at the tips of the L and 6R, and the tips of the second arms 7L and 7R. The first arm 6
Actuators 11L and 11R for rotating L and 6R are provided.

The robot 4 includes lifting mechanisms 8L, 8R,
The drive of the actuators 10L, 10R, 11L, 11R is controlled by the control unit 12 built in the body unit 9, and the arms 6L, 6R7L independent of the common body unit 9,
By moving 7R in the horizontal plane and in the vertical direction, the mechanical hands 5L, 5R can be used in one common working range.
13, the other common working range 14, and the arms 6L, 6
The predetermined work can be performed by rotating the work range 15L, 15R unique to R, 7L, 7R. Note that FIG.
A member indicated by L constitutes a left-handed system, a member indicated by R constitutes a right-handed system, and each arm 6L, 6R, 7L,
7R and the lifting mechanisms 9L and 9R form a pair of arm portions.

Within the common work range 13 of the robot 4, a part (predetermined position) of the assembly line 1 is located and a rotatable work assembly table 17 is arranged.
The work assembly table 17 serves as a work place on which the robot 4 places the semi-finished product 2 taken out from the line 1 and assembles the parts.
Further, a component supply unit 18 is arranged in a common work range 14 different from the work assembly table 17, and this unit 18 includes a component supply tray 22 capable of accommodating a plurality of components 20 to be assembled by the robot 4 into the semi-finished product 2. It is adapted to be transferred to the take-out position A and positioned. On the other hand, the arm 6 of the robot 4
L, 6R, 7L, 7R peculiar work ranges 15L, 15R are each provided with a tool unit (not shown) equipped with a plurality of work tools 24, which correspond to the parts to be assembled to the semi-finished product 2. The first arm 6L, 6 of the robot 4
It can be attached by replacing it with the tip of R. Further, the parts 21a to 21c are provided on the left and right sides of the robot 4 with respect to the assembly line 1.
Parts feeders 23a to 23c (parts supply means) for supplying (for example, screws 103 and the like) to predetermined positions of the unique work ranges 15L and 15R are arranged symmetrically.

Further, as shown in FIGS. 4 and 5, the component supply unit 18 is transferred from the component unloading position A and placed on the tray unloading position B in response to the completion or replacement of the component 20 by the robot 4. A payout conveyor 31 (payout section) for paying out the tray 22 to the outside of the apparatus, a supply conveyor 33 that is driven by a motor 32 and moves the tray 22 supplied from outside the apparatus to a tray supply position C below the tray payout position B, and a tray. An L-shaped member 34 that is fixedly installed between the delivery position B and the tray supply position C and that stacks the tray 22 in a plurality of upper and lower component storage positions (storage locations) D so that the tray 22 can be pulled out (transferred).
(Storage unit), and a component supply device 36 for supporting the outer edges 22a on both sides of the tray 22 with an arm 35 (supporting unit) and transferring between the positions A to D.

The component supply device 36 is provided between a pair of cylinders 38a, 38b forming a horizontal slide mechanism supported by an angle 37 and having an arm 35 fixed thereto, and a base portion of the arm 35 and the angle 37. A plurality of cylinders 39a to 39e constituting the vertical slide mechanism, a cylinder 40 provided between the supply conveyor 33 and the base of the angle 37,
And a rail (not shown) for movably supporting the base portion of the angle 37 on the supply conveyor 33 in a direction toward or away from the supply conveyor 33.

The component supply device 36 includes cylinders 38a, 38a.
One of the body b and the cylinder shaft (hereinafter simply referred to as the shaft) has the arm 35 fixed thereto, and the other has an angle.
The cylinders 38a and 38b are movably supported in the vertical direction by a shaft 37. The shafts are expanded and contracted in different conveying directions of the assembly line 1 to horizontally move the arm 35 to the unique working range 15L or 15R side. Slide 1/2 width. Further, in the cylinders 39a to 39e, the shaft of the uppermost cylinder 39a is located at the arm 35 base, the shafts of the other cylinders 39b to 39e are located at the upper cylinders 39a to 39d, and the lowermost cylinder 39e is located at the angle 37 base. It is fixed, and the arms 35 are slid vertically by expanding and contracting the individual shafts in the vertical direction, and the parts take-out position A, the tray pay-out position B, the tray supply position C, and the parts storage positions D (d1 to d4). Move to the height of. Further, the cylinder 40 moves the angle 37 toward or away from the supply conveyor 33 on the rail by expanding and contracting the shaft to position the arm 35 at the position A side or the BD side.

The tray 22 is capable of accommodating a plurality of various kinds of parts 20 to be assembled to the semi-finished product 2, and in FIG. 1, a long part 20 (for example, the roller 101 shown in FIG.
), And in FIG.
(For example, the gear 102 and the like) are housed and stored in any of the optional component storage positions d1 to d4. Also,
The tray 22 can store not only a single type of component 20 but also a plurality of types of components 20 for one set or more to be assembled into a semi-finished product, for example.

Next, the operation will be described. First, prior to the assembling work by the multi-joint type multi-arm robot 4, the component supply unit 18 has to transfer the tray 22 accommodating a plurality of components 20 to the component extraction position A and the component storage positions d1 to d4. And the tray 22 is transferred to the tray supply position C by the conveyor 33, and then the arm 35 of the component supply device 36.
And is sequentially transferred to these positions A and d1 to d4.

At this time, the component supply device 36 is provided with a cylinder 39.
After the arm 35 is moved to a height corresponding to the component take-out position A, the tray supply position C, or the component storage positions d1 to d4 by combining the extension and / or contraction of the shafts a to 39e, the shaft of the cylinder 40 Is extended or contracted to horizontally move its arm 35, and the supporting tray 22 is transferred between these positions A, C and d1 to d4. For example, pulling out the tray 22 from the tray supply position C, the component storage position d
1 to d4, and the tray 22 is pulled out from the component storage positions d1 to d4 and held (positioned) at the component extraction position A. When the component 20 is taken out or replaced, the tray 22 is moved to the tray payout position B by extending the shaft of the cylinder 40 while maintaining the height of the component takeout position A.
The sheet is placed on and is delivered to the outside of the apparatus by the delivery conveyor 31.

As described above, the tray 22 has the component supply device 36.
Between the parts take-out position A, the tray delivery position B, the tray supply position C, or the parts storage positions d1 to d4 by being moved in the horizontal direction and the vertical direction by the combination of the expansion and / or the contraction of the shafts of the cylinders 39a to 40 of the above. Is transferred and held or placed at that position. Therefore, tray 22
Can be transferred from the tray supply position C or any position of the component storage positions d1 to d4 to the component extraction position A in a short time, and the time for supplying and replacing the component 20 can be shortened. Further, since the component 20 is housed in the tray 22 and supplied (transferred), a large component 20 (for example, the long roller 101) can be easily supplied to the component unloading position A, and the component feeder 23a. Other parts due to vibration of ~ 23c 20
It will not be damaged due to collision with. The component supply device 36 slightly extends one of the shafts of the cylinders 39a to 39e at the positions A, B, C, and d1 to d4 so that the arm 35 is engaged with the outer edge 22a to move the tray 22. The tray 35 is supported and is slightly shortened to support the tray 22 on the conveyor 31 or the L-shaped member 34.
Disengage the.

On the other hand, the parts 21a to 21c are the parts feeder 23.
It is supplied symmetrically within a specific working range 15L, 15R by a to 23c. Then, when the driving of the multi-joint type multi-arm robot 4 is started, the semi-finished product 2 is conveyed from the assembly line 1 and located in the common work range 13 to the semi-finished product 2 and the horizontal multi-joint type multi-arm robot 4 is moved. Are transferred to the work assembly table 17 by the component supply unit 18 and transferred to the component extraction position A of the common work range 14 by the component supply unit 18 and the unique work ranges 15L and 15R by the parts 20 in the tray 22 and the part feeders 23a to 23c. The parts 21a to 21c supplied therein are assembled.

Here, an automatic parts assembling apparatus equipped with the horizontal multi-joint type multi-arm robot 4 as in this embodiment is shown in FIG.
As shown in, the parts supply units 18L and 18L are respectively provided in the working ranges 15L and 15R unique to the arms 6L, 6R, 7L and 7R.
18R is arranged so that the unit 18L accommodates a long component 20L (for example, the roller 101) in the tray 22L and supplies it within the working range 15L, while the unit 18R supplies the small component 20R (for example, the gear 102). It is also conceivable to accommodate the same) in the tray 22R and supply it to a predetermined position of the work range 15R, and arrange a tool unit equipped with a common work tool 24 in the common work range 14, but the units 18L, 18R There is a problem that the occupation area becomes large and the size becomes large because the work areas are arranged in each of the unique working ranges 15L and 15R.
In addition, since the robot 4 must be driven by incorporating the respective controls of the right-handed system and the left-handed system into the same control flow (control program), it is difficult to design and wastes driving time. There's a problem.

On the other hand, in this embodiment, since the component supply unit 18 is arranged in the common work range 14, the robot 4 can take out the component 20 from the work range 14, and the unit 18 can be removed. There is no need to arrange them in the unique work areas 15L and 15R, and the occupied area is reduced. Further, since the parts 21a to 21c are symmetrically supplied to the unique working ranges 15L and 15R by the parts feeders 23a to 23c, the right-hand system and the left-hand system of the robot 4 are independently driven to operate in unique working ranges. Parts 21a to 21c from 15L and 15R
Can be taken out and assembled into the semi-finished product 2, and the control programs for the right-handed system and the left-handed system can be easily designed.

Further, since the semi-finished product 2 can be rotated together with the work assembly table 17, the semi-finished product 2 can be rotated according to the work to change the direction of the semi-finished product 2 so that the component 2 can be rotated.
The 0, 21a to 21c can be easily assembled from multiple directions, the control program can be simplified, and the number of attachable locations can be increased to improve versatility. Further, in the component supply unit 18, the component supply device 36 has the cylinders 38a, 38a.
By extending one of the shafts in FIG.
As shown in, the arm 35 has its own working range 15L or 15
Since it is slid horizontally to the R side by half the width of the tray 22, one end side of the long part 20 protruding from the common work range 14 when the part 20 is assembled to the semi-finished product 2 by the robot 4 is mounted. When gripping and working, slide the tray 22 so that one end of the component 20 is within the working range.
Can be located within 14. Further, even when the tray 22 is large and a part of the small-sized component 20 extends out of the common work range 14, it is possible to position all of the component 20 within the work range 14 by sliding the tray 22. .

As described above, in the present embodiment, the component supply unit 18 transfers the tray 22 containing the plurality of components 20 to the component extraction position A within the common work range 14,
It is possible to reduce the number of component supply units 18 that supply 20 and to secure the arms 6L, 6R, 7
The work range of L and 7R can be reduced. Further, since the component 20 is accommodated in the tray 22 and transferred, a large component
20 can be easily supplied to the component take-out position A and is not damaged. Therefore, the cost can be reduced, the size can be reduced, and the reliability can be improved. Further, on the left and right sides of the robot 4, the parts 21a to 21c are provided with a unique work range 15
Since the parts feeders 23a to 23c to be supplied into L and 15R are symmetrically arranged, the right hand system and the left hand system of the robot 4 are independently provided with the work range 14 and the work range 15R or the work range 15L. 20 and 21a to 21c can be taken out and assembled to the semi-finished product 2. Therefore, the control program of the control unit 12 can be easily designed,
It can be driven efficiently.

Further, in the component supply unit 18, the trays 22 are stacked at the component storage positions d1 to d4 so that the component supply device 36 can transfer them from any of them, and the trays 22 are transferred from the arbitrary position to the component extraction position A. It is possible to transfer an arbitrary component 20 to the component unloading position A in a short time, and it is possible to reduce a wasteful time when supplying and replacing the component 20. Therefore, the work efficiency is improved.

Further, the component supply device 36 can slide the tray 22 transferred to the component take-out position A horizontally within the unique working range 15L or 15R by extending the cylinder of the cylinder 38a or 38b. Even if the parts 20 and the tray 22 are large enough to extend from the common working range 14, they can be positioned within the common working range 14 and the working ranges of the arms 6L, 6R, 7L, 7R are limited. Can be covered. Therefore, there are less restrictions on the sizes of the components 20 to be supplied and the tray 22 to be applied, and the efficiency is improved.

Further, in the present embodiment, it is mainly explained that the single type of component 20 is accommodated in the tray 22 and is transferred to the component take-out position A. By accommodating the plurality of types of components described above and transferring them to the component extraction position A, it is possible to reduce the replacement work of the tray 22 and reduce the number of the part feeders 23a to 23c.

[0032]

According to the first aspect of the present invention, the tray capable of accommodating a plurality of components is transferred to the component extraction position by the component supply unit and the components are supplied to the common working range of each arm. Each arm can take out parts from the tray. Therefore, it is possible to reduce the number of component supply units to be arranged, reduce the working range of the arm portion, and reduce the cost and the size.

Further, since the parts are supplied within the common working range of each arm, each arm can be independently controlled, and each arm can be easily controlled and efficiently driven. . Further, since the components are accommodated in the tray and transferred to the component extraction position, large (for example, long) components can be easily transferred, and the components are not damaged by vibration or the like.

According to the second aspect of the present invention, since the tray is vertically moved to supply a plurality of components to the component take-out position, it is not necessary to secure a tray transfer area in the horizontal direction, and the component supply unit is not required. While reducing the occupied area of
It is possible to transfer the tray to the component pickup position with a short transfer distance. Therefore, the size can be reduced and the parts can be efficiently supplied.

According to the third aspect of the invention, since the trays are vertically stored so that they can be transferred from any of them and transferred from an arbitrary position to the component taking-out position, the tray containing the arbitrary components is shortened. It can be transferred to time, and wasteful time can be saved. Therefore, the work efficiency is improved. According to the invention described in claim 4, since the tray transferred to the component take-out position is horizontally slid to the working range side peculiar to each arm portion, even if it is a large component or a tray, all the components to be accommodated are accommodated in each arm. Can be located within the common working range of the arm section, and can cover the working range limit of the arm section. Therefore, the restrictions on the size of the applied components and trays are reduced and the efficiency is improved.

[Brief description of drawings]

FIG. 1 is a plan view showing the overall configuration of an embodiment of an automatic component assembly apparatus according to the present invention.

FIG. 2 is an elevation view showing a multi-joint type multi-arm robot provided in one embodiment thereof.

FIG. 3 is a perspective view showing a component supply unit included in the embodiment.

4 is a partial cross-sectional perspective view showing the component supply unit shown in FIG. 3. FIG.

FIG. 5 is a plan view in the case of changing the arrangement for explaining the function and effect of the embodiment.

FIG. 6 is a state diagram for explaining an operation at the time of supplying components according to the embodiment.

FIG. 7 is an exploded perspective view showing a copying machine unit automatically assembled by an automatic component assembly apparatus.

[Explanation of symbols]

 1 Assembly line 2 Semi-finished product 4 Horizontal multi-joint type multi-arm robot 5L, 5R Mechanical hand 6L, 6R 1st arm (arm part) 7L, 7R 2nd arm (arm part) 8L, 8R Lifting mechanism (arm part) 9 Body Parts 13 and 14 Common working range 15L and 15R Unique working range 17 Work assembly table 18 Parts supply unit 20, 21a to 21c Parts 22 Parts supply tray 23a to 23c Parts feeder (parts supply means) 24 Tool (tool unit) 31 Delivery conveyor (delivery section) 33 Supply conveyor 34 L-shaped member (storage section) 35 Arm (support section) 36 Parts supply device 38a, 38b Cylinder (horizontal slide mechanism) 39a to 39e Cylinder (upper and lower slide mechanism) 40 Cylinder A Part removal Position B Tray delivery position C Tray supply position D, d1 to d4 Parts storage position (storage location)

Claims (4)

[Claims] 1. A pair of arm portions having a distal end portion to which a mechanical hand can be attached and a proximal end portion attached to a common body portion, and by moving the arm portions in a horizontal plane and in a vertical direction. , An articulated multi-arm robot that assembles parts, an assembly line that conveys semi-finished products in parallel with the robot, and an assembly tool that can be attached to the multi-joint multi-arm robot that corresponds to the parts that are assembled to the semi-finished products And a work assembly table on which the semi-finished product taken out from the assembly line by the articulated multi-arm robot is placed and the parts supplied by the part supply unit are assembled. The articulated multi-arm robot has at least two common work ranges for each arm, and one of the common work ranges has a predetermined position on the assembly line. And a work assembly table, and the component supply unit is arranged in a common work range different from that of the work assembly table, and the component supply unit transfers trays capable of accommodating a plurality of parts to multiple units. An automatic component assembly apparatus comprising a component supply device for supplying a component to a component extraction position of an articulated multi-arm robot. 2. The component automatic assembly apparatus according to claim 1, wherein the component supply device moves the tray in the vertical direction to supply the component to the component take-out position. 3. A parts supply unit for discharging a tray transferred from the parts extraction position, and a plurality of storages for storing the trays vertically from below the supply part so that the trays can be transferred from any of them. And a storage unit having a place, wherein the component supply device slides a support unit that supports the tray in the vertical direction to transfer an arbitrary tray between the component extraction position and the storage unit or the delivery unit. The automatic component assembly apparatus according to claim 2, further comprising a vertical slide mechanism. 4. The component supply device comprises a horizontal slide mechanism for horizontally sliding the tray transferred to the component take-out position to a work range side peculiar to each arm part of the multi-joint type multi-arm robot. 4. The automatic component assembly apparatus according to claim 2 or 3.