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.