Provided is an apparatus for piston insertion, including an insertion robot having a plurality of robot arms connected by a plurality of articulated joints, a piston insertion module directly mounted on the insertion robot, gripping a piston assembly, and inserting the piston assembly into a cylinder bore of a cylinder block, and a controller controlling an operation of the insertion robot and an operation of the piston insertion module.

An effector includes a body plate and at least one rod coupled to the body plate. The at least one rod is configured to be variably tilted with respect to the body plate. A robot device includes an end effector, a joint arm coupled to the end effector and configured to move the end effector, and a processor configured to execute a program stored in a memory so as to control movement of the end effector. The processor acquires cargo image information, controls the joint arm to perform a first movement so as to move the end effector above a cargo elevation, controls the joint arm to perform a second movement so as to move the end effector downward after the first movement, and controls the joint arm to perform a third movement so as to retract the end effector after the second movement.

An end effector includes a hole plate includes a plurality of holes, a plurality of pins that respectively penetrate the plurality of holes and are hung on the hole plate to be movable upward, and a force applying part that applies an inward force to an outer pin of the plurality of pins.

A method of manufacturing a press-formed product includes: a heating step; a transportation step; and a pressing step. The transportation step includes: using claws of a pair of first arms to support the lower surface, at both ends, of a first heated workpiece and lift the workpiece; using claws of a pair of second arms to support the lower surface, at both ends, of a second heated workpiece and lift the workpiece; transporting the first heated workpiece with the lower surface supported, at both ends, by the claws of the pair of first arms and the second heated workpiece with the lower surface supported, at both ends, by the claws of the pair of second arms, where the first and second heated workpieces overlap each other in the direction normal to the sheet surfaces; driving the pair of first arms to lower the first heated workpiece to a pressing location on a press machine; and driving the pair of second arms to lower the second heated workpiece to a pressing location on the press machine.