• Industry > Automotive
  • Application > Assembly
  • Sector > Manufacturing
  • #AutomotiveAssembly
  • #DefectReduction
  • #EpsonRobot
  • #ForceTorqueSensor
  • #PinInsertion
  • #PrecisionAssembly
  • #PressFitInsertion
  • #TaktTimeReduction

Process Overview

This assembly automation solution uses an Epson C4 robot and an FT (Force-Torque) sensor to automate the task of inserting and fastening automotive parts with a tight press-fit tolerance.

Even when the fit is extremely tight, the system can detect insertion force, locate the correct position, and perform smooth insertion without part damage or jamming.

This project was implemented to automate the insertion of fixing pins used in automotive components.

Components

Robot

  • Epson C4

  • 6-axis articulated robot

  • Payload: 4 kg (rated 1 kg)

  • Max reach: 600 mm

  • Weight: 27 kg

  • Repeatability: ±0.02 mm

Peripherals

  • SMC 3-finger pneumatic gripper

  • 6-axis FT (Force-Torque) sensor S250 (high rigidity, high sensitivity)

  • Rated load: 250 N / 18 Nm

  • Resolution: 0.1 N / 0.003 Nm

  • Measured components: force (X, Y, Z) / moment (Fx, Fy, Fz) — 6 axes

  • Work cell

  • Robot base

  • Part rack and fixing jig

Workflow

STEP 1.
Pick the lower part and place it at the assembly position
STEP 2.
Clamp and secure the workpiece
STEP 3.
Pick and insert the connecting pin
STEP 4.
Pick the upper part and align to the pin position while rotating for insertion

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