# US 12,005,537 B1 · Fastener removal assembly for automated temporary fastener removal > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,537 B1 - Document ID: US12005537B1 - Status: Granted - Kind: B1 - Application number: 18/298,715 - Filed: 2023-04-11 - Granted: 2024-06-11 - Earliest claimed: 2023-04-11 - Assignees: Lockheed Martin Corporation - Applicants: Lockheed Martin Corporation - Inventors: Max Nelson Winter, III; David Bielski; Ashish Prashant Kulkarni; Jay A. Smith; Tyler Martin Rup - Web page: https://patentgrep.com/patent/US12005537B1 ## CPC - B23P 19/065: {Arrangements for torque limiters or torque indicators in screw or nut setting machines (for hand tools B25B23/14)} - B25J 15/0019: {End effectors other than grippers} - B25J 15/0052: {multiple gripper units or multiple end effectors} - F16B 19/109: {Temporary rivets, e.g. with a spring-loaded pin (special clamping devices for workpieces to be riveted together, e.g. operating through the rivet holes B21J15/42; hand tools for temporarily connecting sheets before or during assembly operations B25B31/005)} - B23P: METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS (arrangements for copying or controlling B23Q) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - F16B: DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING (couplings for transmitting rotation F16D) ## Abstract A fastener removal assembly comprises a drive housing operable to receive a drive unit, wherein the drive housing comprises a shaft configured to rotate based on operation of the drive unit, the shaft extending downwards and out of the drive housing. The fastener removal assembly further comprises a set of gripping jaws disposed under the drive housing and around a portion of the shaft and a first pneumatic actuator coupled to the set of gripping jaws configured to actuate the set of gripping jaws to expand and retract. The fastener removal assembly further comprises at least one second pneumatic actuator disposed on top of the first pneumatic actuator. The fastener removal assembly further comprises an intermediate coupler, wherein the intermediate coupler is coupled to a side of the drive housing, and wherein the at least one second pneumatic actuator is coupled to a bottom side of the intermediate coupler. ## Claims ### Claim 1 A fastener removal assembly the assembly comprising: a drive housing operable to receive a drive unit, wherein the drive housing comprises a shaft configured to rotate based on operation of the drive unit, the shaft extending downwards and out of the drive housing; a set of gripping jaws disposed under the drive housing and around a portion of the shaft; a first pneumatic actuator coupled to the set of gripping jaws and configured to actuate the set of gripping jaws to expand and retract in a radial direction; at least one second pneumatic actuator disposed on top of the first pneumatic actuator; a sprag clutch disposed at a distal end of the shaft configured to receive a fastener; and an intermediate coupler, wherein the intermediate coupler is coupled to a side of the drive housing, and wherein the at least one second pneumatic actuator is coupled to a bottom side of the intermediate coupler. ### Claim 2 (depends on 1) The fastener removal assembly of claim 1, further comprising a quick-connect change plate configured to receive an end of a robotic arm, wherein the quick-connect change plate is disposed on top of the intermediate coupler. ### Claim 3 (depends on 1) The fastener removal assembly of claim 1, wherein the shaft further comprises a chamber disposed adjacent to the sprag clutch extending at least partially into the shaft. ### Claim 4 (depends on 1) The fastener removal assembly of claim 1, wherein the sprag clutch is configured to receive a top portion of a body of the fastener and actuate the top portion to rotate with respect to a housing of the fastener. ### Claim 5 (depends on 4) The fastener removal assembly of claim 4, wherein the set of gripping jaws is configured to receive the housing of the fastener and apply a radial compressive force to secure the housing of the fastener. ### Claim 6 (depends on 1) The fastener removal assembly of claim 1, further comprising a pneumatic sensor associated with the at least one second pneumatic actuator configured to provide positional data of the at least one second pneumatic actuator for compliance. ### Claim 7 A fastener removal assembly, the assembly comprising: a drive housing operable to receive a drive unit, wherein the drive housing comprises a shaft configured to rotate based on operation of the drive unit, the shaft extending downwards and out of the drive housing; a set of gripping jaws disposed under the drive housing and around a portion of the shaft; a first pneumatic actuator coupled to the set of gripping jaws and configured to actuate the set of gripping jaws to expand and retract in a radial direction; a sprag clutch disposed at a distal end of the shaft configured to receive a fastener; and an intermediate coupler, wherein the intermediate coupler is coupled to a side of the drive housing. ### Claim 8 (depends on 7) The fastener removal assembly of claim 7, further comprising a quick-connect change plate configured to receive an end of a robotic arm, wherein the quick-connect change plate is disposed on top of the intermediate coupler. ### Claim 9 (depends on 7) The fastener removal assembly of claim 7, wherein the shaft further comprises a chamber disposed adjacent to the sprag clutch extending at least partially into the shaft. ### Claim 10 (depends on 9) The fastener removal assembly of claim 9, wherein the sprag clutch is configured to receive a top portion of a body of the fastener and actuate the top portion to rotate with respect to a housing of the fastener. ### Claim 11 (depends on 10) The fastener removal assembly of claim 10, wherein the set of gripping jaws is configured to receive the housing of the fastener and apply a radial compressive force to secure the housing of the fastener.