# US 9,751,166 B2 · Apparatus and methods for manipulating a fastener > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,751,166 B2 - Document ID: US9751166B2 - Status: Granted - Kind: B2 - Application number: 14/326,613 - Filed: 2014-07-09 - Published: 2016-01-14 - Granted: 2017-09-05 - Earliest claimed: 2014-07-09 - Assignees: The Boeing Company - Applicants: The Boeing Company - Inventors: Daniel Thomas Long; Kevin Michael Bell; Theodore W. Pitt - Web page: https://patentgrep.com/patent/US9751166B2 ## CPC - B23P 19/002: {orientating the articles} - B21J 15/142: {Aerospace structures} - B21J 15/32: Devices for inserting or holding rivets in position with or without feeding arrangements - B23P 19/001: {Article feeders for assembling machines (screws or nuts being carried by a disposable strip or disc B25B23/045)} - B23P 2700/01: Aircraft parts - B23P: METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS (arrangements for copying or controlling B23Q) - B21J: FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES (rolling of metal B21B; making particular products by forging or pressing B21K; cladding or plating B23K; finishing surfaces by hammering B23P9/04; compacting surfaces by blasting with particulate material B24C1/10; general features of presses, presses for consolidating scrap B30B; furnaces in general F27) ## Abstract One example of the present disclosure relates to an apparatus for manipulating a fastener. The apparatus comprises a chamber that includes a first location and a second location. A first actuator is movable between a first position, contiguous with the first location, and a second position, contiguous with the second location. A second actuator is movable between a third position, contiguous with the second location, and a fourth position, contiguous with a third location. A third actuator is movable between a fifth position, contiguous with the third location, and a sixth position, contiguous with the fourth location. The third location is at least partially outside the chamber, and the fourth location is entirely outside the chamber. ## Claims ### Claim 1 An apparatus for manipulating a fastener, the apparatus comprising: a chamber including a first location and a second location; a first actuator movable between a first position, contiguous with the first location, and a second position, contiguous with the second location; a second actuator movable between a third position, contiguous with the second location, and a fourth position, contiguous with a third location; and a third actuator movable between a fifth position, contiguous with the third location, and a sixth position, contiguous with a fourth location, wherein the third location is at least partially outside the chamber and the fourth location is entirely outside the chamber. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein: a first path traversable by the fastener passes through the first location and the second location; a second path traversable by the fastener passes through the second location and the third location; and a third path traversable by the fastener passes through the third location and the fourth location. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein each of the first path and the second path is linear. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the first actuator is linearly movable between the first position and the second position. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the second actuator is rotatably movable between the third position and the fourth position. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the third actuator is rotatably movable between the fifth position and the sixth position. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the third actuator comprises a pair of retaining fingers. ### Claim 8 (depends on 1) The apparatus of claim 1, further comprising a chassis, wherein each of the first actuator, the second actuator, and the third actuator is movably coupled to the chassis. ### Claim 9 (depends on 8) The apparatus of claim 8, further comprising a magazine removably coupled to the chassis, wherein a first end of the magazine is operatively coupled to the chamber when the magazine is removably coupled to the chassis. ### Claim 10 (depends on 8) The apparatus of claim 8, wherein the chassis is movable to align the fastener with a workpiece when the fastener is in the fourth location. ### Claim 11 A method of manipulating a fastener, the method comprising: delivering the fastener to a first location in a chamber; moving the fastener from the first location to a second location in the chamber using a first actuator movable between a first position, contiguous with the first location, and a second position, contiguous with the second location; moving the fastener from the second location to a third location using a second actuator movable between a third position, contiguous with the second location, and a fourth position, contiguous with the third location; and moving the fastener from the third location to a fourth location using a third actuator movable between a fifth position, contiguous with the third location, and a sixth position, contiguous with the fourth location, wherein the third location is at least partially outside the chamber and the fourth location is entirely outside the chamber. ### Claim 12 (depends on 11) The method of claim 11, wherein: moving the fastener from the first location to the second location comprises moving the fastener along a first path that is linear; and moving the fastener from the second location to the third location comprises moving the fastener along a second path that is linear. ### Claim 13 (depends on 11) The method of claim 11, wherein: delivering the fastener to the first location in the chamber comprises positioning the fastener in a first directional orientation; moving the fastener from the first location to the second location in the chamber comprises maintaining the fastener in the first directional orientation; moving the fastener from the second location to the third location comprises maintaining the fastener in the first directional orientation; and moving the fastener from the third location to the fourth location comprises positioning the fastener in a second directional orientation that is non-parallel to the first directional orientation. ### Claim 14 (depends on 11) The method of claim 11, further comprising operatively coupling a first end of a magazine to the chamber. ### Claim 15 (depends on 14) The method of claim 14, further comprising retaining a plurality of fasteners in the magazine. ### Claim 16 (depends on 11) The method of claim 11, wherein moving the fastener from the first location to the second location using the first actuator comprises moving the first actuator between a first position and a second position. ### Claim 17 (depends on 16) The method of claim 16, wherein moving the fastener from the second location to the third location using the second actuator comprises moving the second actuator between a third position and a fourth position. ### Claim 18 (depends on 17) The method of claim 17, wherein moving the fastener from the third location to the fourth location using the third actuator comprises moving the third actuator between a fifth position and a sixth position. ### Claim 19 (depends on 18) The method of claim 18, further comprising releasably engaging the fastener in a friction fit using the third actuator. ### Claim 20 (depends on 18) The method of claim 18, wherein each of the first actuator, the second actuator, and the third actuator is movably coupled to a chassis, the method further comprising moving the chassis to align the fastener with a workpiece when the fastener is in the fourth location relative to the chassis.