System, method and tooling for flexible assembly of cylinder-head valve trains

An end effector comprising:

• an adapter plate;
• at least one actuator supported upon the adapter plate;
• at least one shaft extending from the actuator, a mating surface provided on a distal end of the shaft to engage a spring cap, and porting provided through the shaft to a central region of the mating surface to convey pressurized air upon a plurality of retainer keys within the spring cap;
• and
• a plurality of gripper fingers extending from the distal end of the shaft to grip a valve spring while retaining the spring cap between the valve spring and the mating surface of the shaft.

An automation system comprising:

• an automation assembly to orient a cylinder-head for assembly at a first orientation;
• a first robot with a first tooling assembly to install spring caps and retainer keys into the cylinder-head in the first orientation;
• and
• a second robot with a second tooling assembly to install valves into the cylinder-head in the first orientation.

An assembly method comprising:

• providing a kitted assembly of cylinder-head valvetrain components including a valve spring, a spring cap upon the valve spring and a plurality of retainer keys within a tapered aperture of the spring cap;
• orienting an end effector is oriented over the kitted assembly so that a mating surface faces the spring cap;
• translating the end effector towards the kitted assembly until the mating surface engages the spring cap such that a plurality of gripper fingers grip the valve spring;
• and
• conveying pressurized air through porting in the end effector to maintain an orientation of the retainer keys.

An assembly method comprising:

• conveying pressurized air through porting in an end effector toward a spring cap of an assembled valve stem, valve spring, spring cap and plurality of retainer keys in a cylinder-head assembly;
• measuring a pressure of the pressurized air over time;
• and
• comparing the pressurized air measurements to determine if the plurality of retainer keys are properly installed.