Multi-manipulator robot apparatus

A multi-manipulator robot apparatus for assembling a part to a work conveyed along a conveyor line, the robot apparatus comprising:

• at least one manipulator, each having a shoulder element, an arm pivotally connected to the shoulder element, an arm case pivotally connected to the arm, an arm tube connected to the arm case, a wrist case connected to the arm tube, and a hand portion connected to the wrist case;
• a manipulator support extending longitudinally in a direction perpendicular to a longitudinal axis of the conveyor line and supporting the at least one manipulator so that said shoulder element of each said manipulator is slidable along the manipulator support and so that said arm extends in a plane perpendicular to said manipulator support, wherein the manipulator support defines a first axis extending in a horizontal direction perpendicular to the conveyor line and said shoulders element is movable along the first axis, wherein each manipulator has a second axis extending parallel to the first axis, said arm being pivotable about the second axis so as to swing in a vertical plane perpendicular to the first axis, and wherein each manipulator has a third axis extending parallel to the second axis, said arm case being pivotable about the third axis so as to swing in a vertical plane perpendicular to the first axis;
• a manipulator driving device for driving each said manipulator horizontally in a direction perpendicular to the conveyor line along the manipulator support from one end portion of the manipulator support to another end portion of the manipulator support;
• and
• a robot controller electrically connected to each said manipulator for operating each said manipulator and the manipulator driving device in harmony with each other.