Foam pad vacuum gripper, three zone face, pump fed, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer

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This publication supersedes OT-2026-000008039. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104520

Foam pad vacuum gripper, three zone face, pump fed, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104520
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Tool Changers
Document SHA-256: 2e4e6ca2eea6af2613ec854e4ad4c9370411395575dba247ea721b570f26bfb2

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one vacuum pump, three zone branches, one pressure sensor and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by a vacuum pump. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0002]One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock.

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0004]One vacuum pump. The pump draws the circuit down mechanically and adds its own mass to the moving assembly.

[0005]Three zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch.

[0006]One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line.

[0007]One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given after set-down.

[0008]The foam pad is carried on the tool side of the tool-change interface.

[0009]The vacuum pump is fixed to the tool side of the tool-change interface.

[0010]The three zone branches are taken from a branch junction on the pump inlet line, so that each branch carries the vacuum of its own zone only.

[0011]Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone.

[0012]The pressure sensor is tapped into the line between the vacuum pump and the distribution and reads the pressure of the whole circuit.

[0013]The blow-off valve is connected to the circuit at the pump inlet line, so that compressed air can be driven back through the circuit to the face.

[0014]The robot side of the tool-change interface is bolted to the robot flange.

[0015]The pump motor is supplied from the electrical supply of the cell.

[0016]The blow-off valve is fed from the compressed air supply of the cell.

[0017]The blow-off valve is switched by the cell controller; the pressure sensor reports to the cell controller.

3. Operating sequence and conditions

[0018]

When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump.

[0019]

When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor.

[0020]

The workpiece may not be lifted unless the pressure sensor signals a secure grip.

[0021]

After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve.

[0022]

The workpiece is held until the blow-off valve has opened the circuit.

[0023]The cell controller reads the pressure sensor (the common supply line) and commands the blow-off valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0024]Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[0025]The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again.

[0026]The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area.

[0027]The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool.

[0028]Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference.

5. Provenance and status

[0029]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-8132312-B2, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0030]This publication supersedes OT-2026-000008039, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000104520, “Foam pad vacuum gripper, three zone face, pump fed, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer,” published September 17, 2026 at 09:16:24 UTC, https://opentechnical.org/p/OT-2026-000104520.

To cite specific content, add the paragraph or figure numbers.

Terms

Published through OpenTechnical, which means it has been made publicly available here. It is not a statement that the design has been built, tested or independently validated. Content is available under the Creative Commons Attribution 4.0 International licence. See the publication policy.

--- publication_id: "OT-2026-000104520" title: "Foam pad vacuum gripper, three zone face, pump fed, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer" published_at: "2026-09-17T09:16:24.420933Z" canonical_url: "https://opentechnical.org/p/OT-2026-000104520" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" keywords: - "zoned vacuum tool" - "tool-change interface" - "foam pad" - "vacuum pump" - "zone branch" - "pressure sensor" - "blow-off valve" - "blow off release" - "compressed air supply" - "electric actuation" --- # Foam pad vacuum gripper, three zone face, pump fed, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one vacuum pump, three zone branches, one pressure sensor and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by a vacuum pump. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One vacuum pump.** The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] **Three zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch. [0006] **One pressure sensor.** The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0007] **One blow-off valve.** The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given after set-down. [0008] The foam pad is carried on the tool side of the tool-change interface. [0009] The vacuum pump is fixed to the tool side of the tool-change interface. [0010] The three zone branches are taken from a branch junction on the pump inlet line, so that each branch carries the vacuum of its own zone only. [0011] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0012] The pressure sensor is tapped into the line between the vacuum pump and the distribution and reads the pressure of the whole circuit. [0013] The blow-off valve is connected to the circuit at the pump inlet line, so that compressed air can be driven back through the circuit to the face. [0014] The robot side of the tool-change interface is bolted to the robot flange. [0015] The pump motor is supplied from the electrical supply of the cell. [0016] The blow-off valve is fed from the compressed air supply of the cell. [0017] The blow-off valve is switched by the cell controller; the pressure sensor reports to the cell controller. ## 3. Operating sequence and conditions - When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. - The workpiece may not be lifted unless the pressure sensor signals a secure grip. - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. - The workpiece is held until the blow-off valve has opened the circuit. [0023] The cell controller reads the pressure sensor (the common supply line) and commands the blow-off valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0025] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0026] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0027] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. [0028] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. ## 5. Provenance and status [0029] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-8132312-B2, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0030] This publication supersedes OT-2026-000008039, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. OPENTECHNICAL PUBLICATION OT-2026-000104520 Foam pad vacuum gripper, three zone face, pump fed, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer Published: 2026-09-17T09:16:24.420933Z Permanent URL: https://opentechnical.org/p/OT-2026-000104520 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one vacuum pump, three zone branches, one pressure sensor and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by a vacuum pump. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One vacuum pump. The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] Three zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch. [0006] One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0007] One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given after set-down. [0008] The foam pad is carried on the tool side of the tool-change interface. [0009] The vacuum pump is fixed to the tool side of the tool-change interface. [0010] The three zone branches are taken from a branch junction on the pump inlet line, so that each branch carries the vacuum of its own zone only. [0011] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0012] The pressure sensor is tapped into the line between the vacuum pump and the distribution and reads the pressure of the whole circuit. [0013] The blow-off valve is connected to the circuit at the pump inlet line, so that compressed air can be driven back through the circuit to the face. [0014] The robot side of the tool-change interface is bolted to the robot flange. [0015] The pump motor is supplied from the electrical supply of the cell. [0016] The blow-off valve is fed from the compressed air supply of the cell. [0017] The blow-off valve is switched by the cell controller; the pressure sensor reports to the cell controller. 3. Operating sequence and conditions [0018] - When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. [0019] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0020] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0021] - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. [0022] - The workpiece is held until the blow-off valve has opened the circuit. [0023] The cell controller reads the pressure sensor (the common supply line) and commands the blow-off valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0025] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0026] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0027] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. [0028] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. 5. Provenance and status [0029] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-8132312-B2, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0030] This publication supersedes OT-2026-000008039, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000104520 Published 2026-09-17T09:16:24.420933Z https://opentechnical.org/p/OT-2026-000104520 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one vacuum pump, three zone branches, one pressure sensor and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000104520", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "robotics-automation/end-effectors/tool-changers" ], "extent": { "figures": 0, "paragraphs": 30, "words": 1091 }, "figures": [], "files": [ { "bytes": 18429, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "4bf01ad28504b2447b2e21758d45725ddf56997ddbdfc84ccc46504857c2328b" }, { "bytes": 7930, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "fb888cd4eccfeda4564929528c0d7838ca60c79f73d83161ed36278a6b23b1b5" }, { "bytes": 7617, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "2e4e6ca2eea6af2613ec854e4ad4c9370411395575dba247ea721b570f26bfb2" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000104520/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "tool-change interface", "foam pad", "vacuum pump", "zone branch", "pressure sensor", "blow-off valve", "blow off release", "compressed air supply", "electric actuation" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000104520", "published_at": "2026-09-17T09:16:24.420933Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000008039", "title": "Foam pad vacuum gripper, three zone face, pump fed, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer", "uuid": "01a0aea7-239f-79ff-a503-cc26d806ecc0" } 96aA/ojYAOJr9VFNaDmtMaYAU2v786zc8uStZJ/mz1YtU+s5IcehFXi93HSvmeEMWFxe2MeRRxiMbo36wcFkCA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: 96aA/ojYAOJr9VFNaDmtMaYAU2v786zc8uStZJ/mz1YtU+s5IcehFXi93HSvmeEMWFxe2MeRRxiMbo36wcFkCA== {"files":[{"bytes":18665,"name":"index.html","sha256":"6ae69d1d7a32e538c732a5dddab42220198617baf9edc29abc4e77489861c8a5"},{"bytes":8179,"name":"publication.md","sha256":"cb14102ff3acfc71678eec8291c73c3598cd90c567450933f539963579e41f19"},{"bytes":7886,"name":"publication.txt","sha256":"82cc534f6e7b9ffa902d8f293c09bd76a72004fa06553e88acca9a6f6be4c4ac"},{"bytes":2814,"name":"manifest.json","sha256":"51c29c836b4b2b1cc327ce74c15d891f6549ac40db0c26a06d882df58f1e6198"},{"bytes":89,"name":"manifest.sig","sha256":"da9f5ffe62f939139709beadc1b19a68318a7bed1783481ecc397431a08bb5b3"},{"bytes":227,"name":"manifest.sig.txt","sha256":"72127b405b9507301af3a8fa57b506915b1b6597cb38f84214922a6c81f88810"}],"publication_id":"OT-2026-000104521"} Foam pad vacuum gripper, three zone face, pump fed, pressure sensor per zone, vented before set-down, on a tool changer - OpenTechnical OT-2026-000104521

This publication supersedes OT-2026-000008132. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104521

Foam pad vacuum gripper, three zone face, pump fed, pressure sensor per zone, vented before set-down, on a tool changer

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104521
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Tool Changers
Document SHA-256: 82cc534f6e7b9ffa902d8f293c09bd76a72004fa06553e88acca9a6f6be4c4ac

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one vacuum pump, three zone branches, three pressure sensors and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by a vacuum pump. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0004]One vacuum pump. The pump draws the circuit down mechanically and adds its own mass to the moving assembly.

[0006]Three pressure sensors. Each pressure sensor taps the line it is placed in and reports the vacuum level in that line. The count of three follows from the arrangement: one sensor per zone branch. The pressure is measured at each zone.

[0007]One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down.

[0008]The foam pad is carried on the tool side of the tool-change interface.

[0009]The vacuum pump is fixed to the tool side of the tool-change interface.

[0010]The three zone branches are taken from a branch junction on the pump inlet line, so that each branch carries the vacuum of its own zone only.

[0011]Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone.

[0012]One pressure sensor is tapped into each zone line, so that each of the three sensors reads its own zone and no other.

[0013]The vent valve is connected to the circuit at the pump inlet line and opens that circuit to atmosphere when it is actuated.

[0014]The robot side of the tool-change interface is bolted to the robot flange.

[0015]The pump motor is supplied from the electrical supply of the cell.

[0016]The vent valve is switched by the cell controller; the pressure sensors reports to the cell controller.

3. Operating sequence and conditions

[0017]

When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump.

[0018]

When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor of each zone in use.

[0019]

The workpiece may not be lifted unless the pressure sensor of each zone in use signals a secure grip.

[0020]

Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface.

[0021]

The workpiece is held until the vent valve has opened the circuit.

[0022]The cell controller reads the pressure sensor (each zone line) and commands the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0023]Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensors: at each zone (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

[0024]A zone is in use when the workpiece covers it. Which zones are in use is decided by the controller from the workpiece programme; this arrangement fixes where each zone is measured, not how the programme is written.

[0025]The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here.

[0027]The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool.

5. Provenance and status

[0029]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0030]This publication supersedes OT-2026-000008132, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000104521, “Foam pad vacuum gripper, three zone face, pump fed, pressure sensor per zone, vented before set-down, on a tool changer,” published September 17, 2026 at 09:16:24 UTC, https://opentechnical.org/p/OT-2026-000104521.

To cite specific content, add the paragraph or figure numbers.

Terms

--- publication_id: "OT-2026-000104521" title: "Foam pad vacuum gripper, three zone face, pump fed, pressure sensor per zone, vented before set-down, on a tool changer" published_at: "2026-09-17T09:16:24.420933Z" canonical_url: "https://opentechnical.org/p/OT-2026-000104521" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" keywords: - "zoned vacuum tool" - "tool-change interface" - "foam pad" - "vacuum pump" - "zone branch" - "pressure sensor" - "vent valve" - "drop release" - "electric actuation" - "per zone measurement" --- # Foam pad vacuum gripper, three zone face, pump fed, pressure sensor per zone, vented before set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one vacuum pump, three zone branches, three pressure sensors and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by a vacuum pump. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One vacuum pump.** The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] **Three zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch. [0006] **Three pressure sensors.** Each pressure sensor taps the line it is placed in and reports the vacuum level in that line. The count of three follows from the arrangement: one sensor per zone branch. The pressure is measured at each zone. [0007] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0008] The foam pad is carried on the tool side of the tool-change interface. [0009] The vacuum pump is fixed to the tool side of the tool-change interface. [0010] The three zone branches are taken from a branch junction on the pump inlet line, so that each branch carries the vacuum of its own zone only. [0011] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0012] One pressure sensor is tapped into each zone line, so that each of the three sensors reads its own zone and no other. [0013] The vent valve is connected to the circuit at the pump inlet line and opens that circuit to atmosphere when it is actuated. [0014] The robot side of the tool-change interface is bolted to the robot flange. [0015] The pump motor is supplied from the electrical supply of the cell. [0016] The vent valve is switched by the cell controller; the pressure sensors reports to the cell controller. ## 3. Operating sequence and conditions - When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor of each zone in use. - The workpiece may not be lifted unless the pressure sensor of each zone in use signals a secure grip. - Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. - The workpiece is held until the vent valve has opened the circuit. [0022] The cell controller reads the pressure sensor (each zone line) and commands the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0023] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensors: at each zone (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0024] A zone is in use when the workpiece covers it. Which zones are in use is decided by the controller from the workpiece programme; this arrangement fixes where each zone is measured, not how the programme is written. [0025] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0026] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0027] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. [0028] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. ## 5. Provenance and status [0029] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0030] This publication supersedes OT-2026-000008132, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. OPENTECHNICAL PUBLICATION OT-2026-000104521 Foam pad vacuum gripper, three zone face, pump fed, pressure sensor per zone, vented before set-down, on a tool changer Published: 2026-09-17T09:16:24.420933Z Permanent URL: https://opentechnical.org/p/OT-2026-000104521 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one vacuum pump, three zone branches, three pressure sensors and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by a vacuum pump. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One vacuum pump. The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] Three zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch. [0006] Three pressure sensors. Each pressure sensor taps the line it is placed in and reports the vacuum level in that line. The count of three follows from the arrangement: one sensor per zone branch. The pressure is measured at each zone. [0007] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0008] The foam pad is carried on the tool side of the tool-change interface. [0009] The vacuum pump is fixed to the tool side of the tool-change interface. [0010] The three zone branches are taken from a branch junction on the pump inlet line, so that each branch carries the vacuum of its own zone only. [0011] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0012] One pressure sensor is tapped into each zone line, so that each of the three sensors reads its own zone and no other. [0013] The vent valve is connected to the circuit at the pump inlet line and opens that circuit to atmosphere when it is actuated. [0014] The robot side of the tool-change interface is bolted to the robot flange. [0015] The pump motor is supplied from the electrical supply of the cell. [0016] The vent valve is switched by the cell controller; the pressure sensors reports to the cell controller. 3. Operating sequence and conditions [0017] - When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. [0018] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor of each zone in use. [0019] - The workpiece may not be lifted unless the pressure sensor of each zone in use signals a secure grip. [0020] - Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. [0021] - The workpiece is held until the vent valve has opened the circuit. [0022] The cell controller reads the pressure sensor (each zone line) and commands the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0023] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensors: at each zone (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0024] A zone is in use when the workpiece covers it. Which zones are in use is decided by the controller from the workpiece programme; this arrangement fixes where each zone is measured, not how the programme is written. [0025] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0026] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0027] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. [0028] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. 5. Provenance and status [0029] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0030] This publication supersedes OT-2026-000008132, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000104521 Published 2026-09-17T09:16:24.420933Z https://opentechnical.org/p/OT-2026-000104521 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one vacuum pump, three zone branches, three pressure sensors and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. 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This publication supersedes OT-2026-000008149. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104522

Foam pad vacuum gripper, two zone face, plant vacuum fed, vented after set-down

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104522
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Valves and Manifolds, Vacuum Supply
Document SHA-256: 17fc71d02832914cda0745e76957c347cc0fe277bb0270647e9eec7ed5a1665d

Abstract

A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, two zone branches, one contact detector and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a plant vacuum connection. It is arranged for handling workpieces that do not cover the whole gripping face, starting the cycle at the moment of contact, controlling the moment of release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0002]One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot.

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0004]One plant vacuum connection. The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own.

[0005]Two zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of two follows from the arrangement: one branch per zone. The distribution is divided into two zones, each fed by its own branch.

[0006]One contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame.

[0007]One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down.

[0008]The foam pad is carried on the tool side of the mounting flange.

[0009]The two zone branches are taken from a branch junction on the plant vacuum connection, so that each branch carries the vacuum of its own zone only.

[0010]Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone.

[0011]The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face.

[0012]The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated.

[0013]The robot side of the mounting flange is bolted to the robot flange.

[0014]The vent valve is switched by the cell controller; the contact detector reports to the cell controller.

3. Operating sequence and conditions

[0015]

After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller.

[0016]

When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection.

[0017]

After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve.

[0018]

The workpiece is held until the vent valve has opened the circuit.

[0019]The cell controller reads the contact detector (on the frame) and commands the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0020]Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

[0021]The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area.

[0022]The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone.

5. Provenance and status

[0023]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-10549431-B2, US-2022339798-A1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0024]This publication supersedes OT-2026-000008149, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000104522, “Foam pad vacuum gripper, two zone face, plant vacuum fed, vented after set-down,” published September 17, 2026 at 09:16:24 UTC, https://opentechnical.org/p/OT-2026-000104522.

To cite specific content, add the paragraph or figure numbers.

Terms

--- publication_id: "OT-2026-000104522" title: "Foam pad vacuum gripper, two zone face, plant vacuum fed, vented after set-down" published_at: "2026-09-17T09:16:24.420933Z" canonical_url: "https://opentechnical.org/p/OT-2026-000104522" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/position-and-presence-sensing" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply" keywords: - "zoned vacuum tool" - "mounting flange" - "foam pad" - "plant vacuum connection" - "zone branch" - "contact detector" - "vent valve" - "contact sensing" - "plant vacuum supply" - "release control" --- # Foam pad vacuum gripper, two zone face, plant vacuum fed, vented after set-down ## Abstract A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, two zone branches, one contact detector and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a plant vacuum connection. It is arranged for handling workpieces that do not cover the whole gripping face, starting the cycle at the moment of contact, controlling the moment of release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One mounting flange.** The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One plant vacuum connection.** The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] **Two zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of two follows from the arrangement: one branch per zone. The distribution is divided into two zones, each fed by its own branch. [0006] **One contact detector.** The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0007] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The foam pad is carried on the tool side of the mounting flange. [0009] The two zone branches are taken from a branch junction on the plant vacuum connection, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0012] The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated. [0013] The robot side of the mounting flange is bolted to the robot flange. [0014] The vent valve is switched by the cell controller; the contact detector reports to the cell controller. ## 3. Operating sequence and conditions - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. - When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. - The workpiece is held until the vent valve has opened the circuit. [0019] The cell controller reads the contact detector (on the frame) and commands the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0020] Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0021] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0022] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. ## 5. Provenance and status [0023] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-10549431-B2, US-2022339798-A1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0024] This publication supersedes OT-2026-000008149, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. OPENTECHNICAL PUBLICATION OT-2026-000104522 Foam pad vacuum gripper, two zone face, plant vacuum fed, vented after set-down Published: 2026-09-17T09:16:24.420933Z Permanent URL: https://opentechnical.org/p/OT-2026-000104522 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, two zone branches, one contact detector and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a plant vacuum connection. It is arranged for handling workpieces that do not cover the whole gripping face, starting the cycle at the moment of contact, controlling the moment of release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One plant vacuum connection. The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] Two zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of two follows from the arrangement: one branch per zone. The distribution is divided into two zones, each fed by its own branch. [0006] One contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0007] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The foam pad is carried on the tool side of the mounting flange. [0009] The two zone branches are taken from a branch junction on the plant vacuum connection, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0012] The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated. [0013] The robot side of the mounting flange is bolted to the robot flange. [0014] The vent valve is switched by the cell controller; the contact detector reports to the cell controller. 3. Operating sequence and conditions [0015] - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. [0016] - When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. [0017] - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. [0018] - The workpiece is held until the vent valve has opened the circuit. [0019] The cell controller reads the contact detector (on the frame) and commands the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0020] Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0021] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0022] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. 5. Provenance and status [0023] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-10549431-B2, US-2022339798-A1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0024] This publication supersedes OT-2026-000008149, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000104522 Published 2026-09-17T09:16:24.420933Z https://opentechnical.org/p/OT-2026-000104522 { "abstract": "A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, two zone branches, one contact detector and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000104522", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "sensors-controls-machine-vision/position-and-presence-sensing", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply" ], "extent": { "figures": 0, "paragraphs": 24, "words": 884 }, "figures": [], "files": [ { "bytes": 16744, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "8985de817ed731d463edfae62fd6dcec6e1f7a3539a9cdb2e1875450c4a8bda9" }, { "bytes": 6621, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "01270a7c3b061f01c119511fcfae981f89f0e6ead4e36ce873d8516e989f4072" }, { "bytes": 6339, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "17fc71d02832914cda0745e76957c347cc0fe277bb0270647e9eec7ed5a1665d" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000104522/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "mounting flange", "foam pad", "plant vacuum connection", "zone branch", "contact detector", "vent valve", "contact sensing", "plant vacuum supply", "release control" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000104522", "published_at": "2026-09-17T09:16:24.420933Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000008149", "title": "Foam pad vacuum gripper, two zone face, plant vacuum fed, vented after set-down", "uuid": "01a0aea7-239f-7eff-9ffc-8573edbdbc5b" } 5zJ02E4TbWjCSNS4KrJID+Juo2wjUtzj0DolW1diQLlyqmusmB15+FkvJuqvJGA8ie3rmoitYjqfaMgUYuOABw== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: 5zJ02E4TbWjCSNS4KrJID+Juo2wjUtzj0DolW1diQLlyqmusmB15+FkvJuqvJGA8ie3rmoitYjqfaMgUYuOABw== {"files":[{"bytes":19995,"name":"index.html","sha256":"95afcd3918fa76786314fc59dce08bbfd856fabaee8365030ea4983cfd27b904"},{"bytes":9254,"name":"publication.md","sha256":"17b480f82df58a7c1d18f07171083062685406d1e404a323b65d08dcb2188e42"},{"bytes":8945,"name":"publication.txt","sha256":"d0718415b17da1784389d0cb32a739c134347bf8a1e2ffdb199c33d91da46eb3"},{"bytes":2849,"name":"manifest.json","sha256":"4984f9a39663e3bdf369f4e00361fa87e2394a139be9818bacaea739c4246905"},{"bytes":89,"name":"manifest.sig","sha256":"8a72c58f3c29f9c1f8e11e73ee2f9bf3f71d6289dedeae0532632abc19804c24"},{"bytes":227,"name":"manifest.sig.txt","sha256":"d9dc2d67531338688771a39a02367a0f2614bd629c39c9f3fe2cdf7e94fa488e"}],"publication_id":"OT-2026-000104523"} Foam pad vacuum gripper, three zone face, two stage ejector, pressure sensor per zone, vented before set-down, on a tool changer - OpenTechnical OT-2026-000104523

This publication supersedes OT-2026-000008176. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104523

Foam pad vacuum gripper, three zone face, two stage ejector, pressure sensor per zone, vented before set-down, on a tool changer

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104523
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Valves and Manifolds
Document SHA-256: d0718415b17da1784389d0cb32a739c134347bf8a1e2ffdb199c33d91da46eb3

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, three zone branches, three pressure sensors, one contact detector and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0004]One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has two stages.

[0007]One contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the gripping face.

[0008]One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down.

[0009]The foam pad is carried on the tool side of the tool-change interface.

[0010]The ejector is fixed to the tool side of the tool-change interface.

[0011]The three zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only.

[0012]Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone.

[0013]One pressure sensor is tapped into each zone line, so that each of the three sensors reads its own zone and no other.

[0014]The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face.

[0015]The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated.

[0016]The robot side of the tool-change interface is bolted to the robot flange.

[0017]The ejector is fed from the compressed air supply of the cell.

[0018]The locking piston of the tool-change interface is fed from the compressed air supply of the cell.

[0019]The vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensors and the contact detector report to the cell controller.

3. Operating sequence and conditions

[0020]

After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller.

[0021]

When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector.

[0022]

When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor of each zone in use.

[0023]

The workpiece may not be lifted unless the pressure sensor of each zone in use signals a secure grip.

[0024]

Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface.

[0025]

The workpiece is held until the vent valve has opened the circuit.

[0026]The cell controller reads the pressure sensor (each zone line) and the contact detector (on the gripping face) and commands the tool-change interface, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0027]Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensors: at each zone (sets where in the circuit the reading is taken and what it describes); placement of the contact detector: on the gripping face (sets where the presence of the workpiece is detected); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

[0028]A zone is in use when the workpiece covers it. Which zones are in use is decided by the controller from the workpiece programme; this arrangement fixes where each zone is measured, not how the programme is written.

[0029]The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here.

[0030]The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area.

[0031]The lock is engaged by compressed air acting on the locking piston and is held only while that air pressure is applied; what the lock does on loss of air pressure is not fixed by this arrangement.

[0032]Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference.

5. Provenance and status

[0033]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-2022339798-A1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0034]This publication supersedes OT-2026-000008176, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000104523, “Foam pad vacuum gripper, three zone face, two stage ejector, pressure sensor per zone, vented before set-down, on a tool changer,” published September 17, 2026 at 09:16:24 UTC, https://opentechnical.org/p/OT-2026-000104523.

To cite specific content, add the paragraph or figure numbers.

Terms

--- publication_id: "OT-2026-000104523" title: "Foam pad vacuum gripper, three zone face, two stage ejector, pressure sensor per zone, vented before set-down, on a tool changer" published_at: "2026-09-17T09:16:24.420933Z" canonical_url: "https://opentechnical.org/p/OT-2026-000104523" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/position-and-presence-sensing" - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" keywords: - "zoned vacuum tool" - "tool-change interface" - "foam pad" - "ejector" - "zone branch" - "pressure sensor" - "contact detector" - "vent valve" - "compressed air supply" - "contact sensing" --- # Foam pad vacuum gripper, three zone face, two stage ejector, pressure sensor per zone, vented before set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, three zone branches, three pressure sensors, one contact detector and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has two stages. [0005] **Three zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch. [0006] **Three pressure sensors.** Each pressure sensor taps the line it is placed in and reports the vacuum level in that line. The count of three follows from the arrangement: one sensor per zone branch. The pressure is measured at each zone. [0007] **One contact detector.** The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the gripping face. [0008] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0009] The foam pad is carried on the tool side of the tool-change interface. [0010] The ejector is fixed to the tool side of the tool-change interface. [0011] The three zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0012] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0013] One pressure sensor is tapped into each zone line, so that each of the three sensors reads its own zone and no other. [0014] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0015] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0016] The robot side of the tool-change interface is bolted to the robot flange. [0017] The ejector is fed from the compressed air supply of the cell. [0018] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0019] The vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensors and the contact detector report to the cell controller. ## 3. Operating sequence and conditions - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor of each zone in use. - The workpiece may not be lifted unless the pressure sensor of each zone in use signals a secure grip. - Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. - The workpiece is held until the vent valve has opened the circuit. [0026] The cell controller reads the pressure sensor (each zone line) and the contact detector (on the gripping face) and commands the tool-change interface, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0027] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensors: at each zone (sets where in the circuit the reading is taken and what it describes); placement of the contact detector: on the gripping face (sets where the presence of the workpiece is detected); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0028] A zone is in use when the workpiece covers it. Which zones are in use is decided by the controller from the workpiece programme; this arrangement fixes where each zone is measured, not how the programme is written. [0029] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0030] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0031] The lock is engaged by compressed air acting on the locking piston and is held only while that air pressure is applied; what the lock does on loss of air pressure is not fixed by this arrangement. [0032] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. ## 5. Provenance and status [0033] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-2022339798-A1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0034] This publication supersedes OT-2026-000008176, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. OPENTECHNICAL PUBLICATION OT-2026-000104523 Foam pad vacuum gripper, three zone face, two stage ejector, pressure sensor per zone, vented before set-down, on a tool changer Published: 2026-09-17T09:16:24.420933Z Permanent URL: https://opentechnical.org/p/OT-2026-000104523 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, three zone branches, three pressure sensors, one contact detector and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has two stages. [0005] Three zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch. [0006] Three pressure sensors. Each pressure sensor taps the line it is placed in and reports the vacuum level in that line. The count of three follows from the arrangement: one sensor per zone branch. The pressure is measured at each zone. [0007] One contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the gripping face. [0008] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0009] The foam pad is carried on the tool side of the tool-change interface. [0010] The ejector is fixed to the tool side of the tool-change interface. [0011] The three zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0012] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0013] One pressure sensor is tapped into each zone line, so that each of the three sensors reads its own zone and no other. [0014] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0015] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0016] The robot side of the tool-change interface is bolted to the robot flange. [0017] The ejector is fed from the compressed air supply of the cell. [0018] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0019] The vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensors and the contact detector report to the cell controller. 3. Operating sequence and conditions [0020] - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. [0021] - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. [0022] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor of each zone in use. [0023] - The workpiece may not be lifted unless the pressure sensor of each zone in use signals a secure grip. [0024] - Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. [0025] - The workpiece is held until the vent valve has opened the circuit. [0026] The cell controller reads the pressure sensor (each zone line) and the contact detector (on the gripping face) and commands the tool-change interface, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0027] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensors: at each zone (sets where in the circuit the reading is taken and what it describes); placement of the contact detector: on the gripping face (sets where the presence of the workpiece is detected); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0028] A zone is in use when the workpiece covers it. Which zones are in use is decided by the controller from the workpiece programme; this arrangement fixes where each zone is measured, not how the programme is written. [0029] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0030] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0031] The lock is engaged by compressed air acting on the locking piston and is held only while that air pressure is applied; what the lock does on loss of air pressure is not fixed by this arrangement. [0032] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. 5. Provenance and status [0033] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-2022339798-A1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0034] This publication supersedes OT-2026-000008176, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000104523 Published 2026-09-17T09:16:24.420933Z https://opentechnical.org/p/OT-2026-000104523 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, three zone branches, three pressure sensors, one contact detector and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000104523", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "sensors-controls-machine-vision/position-and-presence-sensing", "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" ], "extent": { "figures": 0, "paragraphs": 34, "words": 1309 }, "figures": [], "files": [ { "bytes": 19995, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "95afcd3918fa76786314fc59dce08bbfd856fabaee8365030ea4983cfd27b904" }, { "bytes": 9254, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "17b480f82df58a7c1d18f07171083062685406d1e404a323b65d08dcb2188e42" }, { "bytes": 8945, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "d0718415b17da1784389d0cb32a739c134347bf8a1e2ffdb199c33d91da46eb3" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000104523/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "tool-change interface", "foam pad", "ejector", "zone branch", "pressure sensor", "contact detector", "vent valve", "compressed air supply", "contact sensing" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000104523", "published_at": "2026-09-17T09:16:24.420933Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000008176", "title": "Foam pad vacuum gripper, three zone face, two stage ejector, pressure sensor per zone, vented before set-down, on a tool changer", "uuid": "01a0aea7-239f-75c6-ae80-ac3c2a27e085" } W0ffaj9QvC9fAx3PEP2Grmolna6csTJLzx4SLvp7lYGdvB0WEdqe6i/ZOkO/SoTReHV/yS0goNmFcePRY+MmBA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: W0ffaj9QvC9fAx3PEP2Grmolna6csTJLzx4SLvp7lYGdvB0WEdqe6i/ZOkO/SoTReHV/yS0goNmFcePRY+MmBA== {"files":[{"bytes":17745,"name":"index.html","sha256":"bc91421d4339eeccd2adcd5649fe5e225246be3afe04479ef6f956d8c983547d"},{"bytes":7367,"name":"publication.md","sha256":"948cc3a6834616b2c877a6ec84e76bafeb7ac171f4d4da3ddbd8c4b458f4c291"},{"bytes":7083,"name":"publication.txt","sha256":"2453be5e38efee7eaf4347e33bf82e526da3a78110e826dcab4510cea93fde44"},{"bytes":2794,"name":"manifest.json","sha256":"f6f90d0df44affb31dea50d955c5f74eaa70592c1c2e03112bc13d6c60ffb04b"},{"bytes":89,"name":"manifest.sig","sha256":"c7c2921ee8cb11d718f131fa12e2472f7f437bf4c842039da4008d39c3471276"},{"bytes":227,"name":"manifest.sig.txt","sha256":"d46b3b432ab33001720b83c278a57f8f21d8ecc5243f379fd9f9014b65a01971"}],"publication_id":"OT-2026-000104524"} Foam pad vacuum gripper, two zone face, pump fed, supply line pressure sensor, vented before set-down - OpenTechnical OT-2026-000104524

This publication supersedes OT-2026-000008200. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104524

Foam pad vacuum gripper, two zone face, pump fed, supply line pressure sensor, vented before set-down

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104524
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Vacuum Generation
Document SHA-256: 2453be5e38efee7eaf4347e33bf82e526da3a78110e826dcab4510cea93fde44

Abstract

A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one vacuum pump, two zone branches, one pressure sensor and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a vacuum pump. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, controlling the moment of release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0002]One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot.

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0004]One vacuum pump. The pump draws the circuit down mechanically and adds its own mass to the moving assembly.

[0006]One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line.

[0007]One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down.

[0008]The foam pad is carried on the tool side of the mounting flange.

[0009]The vacuum pump is fixed to the tool side of the mounting flange.

[0010]The two zone branches are taken from a branch junction on the pump inlet line, so that each branch carries the vacuum of its own zone only.

[0011]Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone.

[0012]The pressure sensor is tapped into the line between the vacuum pump and the distribution and reads the pressure of the whole circuit.

[0013]The vent valve is connected to the circuit at the pump inlet line and opens that circuit to atmosphere when it is actuated.

[0014]The robot side of the mounting flange is bolted to the robot flange.

[0015]The pump motor is supplied from the electrical supply of the cell.

[0016]The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller.

3. Operating sequence and conditions

[0017]

When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump.

[0018]

When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor.

[0019]

The workpiece may not be lifted unless the pressure sensor signals a secure grip.

[0020]

Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface.

[0021]

The workpiece is held until the vent valve has opened the circuit.

[0022]The cell controller reads the pressure sensor (the common supply line) and commands the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0023]Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

[0024]The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here.

[0025]The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area.

[0026]Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference.

5. Provenance and status

[0027]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10549431-B2, US-11427405-B1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0028]This publication supersedes OT-2026-000008200, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000104524, “Foam pad vacuum gripper, two zone face, pump fed, supply line pressure sensor, vented before set-down,” published September 17, 2026 at 09:16:24 UTC, https://opentechnical.org/p/OT-2026-000104524.

To cite specific content, add the paragraph or figure numbers.

Terms

--- publication_id: "OT-2026-000104524" title: "Foam pad vacuum gripper, two zone face, pump fed, supply line pressure sensor, vented before set-down" published_at: "2026-09-17T09:16:24.420933Z" canonical_url: "https://opentechnical.org/p/OT-2026-000104524" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" keywords: - "zoned vacuum tool" - "mounting flange" - "foam pad" - "vacuum pump" - "zone branch" - "pressure sensor" - "vent valve" - "drop release" - "electric actuation" - "pressure sensing" --- # Foam pad vacuum gripper, two zone face, pump fed, supply line pressure sensor, vented before set-down ## Abstract A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one vacuum pump, two zone branches, one pressure sensor and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a vacuum pump. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, controlling the moment of release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One mounting flange.** The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One vacuum pump.** The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] **Two zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of two follows from the arrangement: one branch per zone. The distribution is divided into two zones, each fed by its own branch. [0006] **One pressure sensor.** The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0007] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0008] The foam pad is carried on the tool side of the mounting flange. [0009] The vacuum pump is fixed to the tool side of the mounting flange. [0010] The two zone branches are taken from a branch junction on the pump inlet line, so that each branch carries the vacuum of its own zone only. [0011] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0012] The pressure sensor is tapped into the line between the vacuum pump and the distribution and reads the pressure of the whole circuit. [0013] The vent valve is connected to the circuit at the pump inlet line and opens that circuit to atmosphere when it is actuated. [0014] The robot side of the mounting flange is bolted to the robot flange. [0015] The pump motor is supplied from the electrical supply of the cell. [0016] The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller. ## 3. Operating sequence and conditions - When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. - The workpiece may not be lifted unless the pressure sensor signals a secure grip. - Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. - The workpiece is held until the vent valve has opened the circuit. [0022] The cell controller reads the pressure sensor (the common supply line) and commands the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0023] Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0024] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0025] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0026] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. ## 5. Provenance and status [0027] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10549431-B2, US-11427405-B1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0028] This publication supersedes OT-2026-000008200, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. OPENTECHNICAL PUBLICATION OT-2026-000104524 Foam pad vacuum gripper, two zone face, pump fed, supply line pressure sensor, vented before set-down Published: 2026-09-17T09:16:24.420933Z Permanent URL: https://opentechnical.org/p/OT-2026-000104524 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one vacuum pump, two zone branches, one pressure sensor and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a vacuum pump. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, controlling the moment of release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One vacuum pump. The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] Two zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of two follows from the arrangement: one branch per zone. The distribution is divided into two zones, each fed by its own branch. [0006] One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0007] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0008] The foam pad is carried on the tool side of the mounting flange. [0009] The vacuum pump is fixed to the tool side of the mounting flange. [0010] The two zone branches are taken from a branch junction on the pump inlet line, so that each branch carries the vacuum of its own zone only. [0011] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0012] The pressure sensor is tapped into the line between the vacuum pump and the distribution and reads the pressure of the whole circuit. [0013] The vent valve is connected to the circuit at the pump inlet line and opens that circuit to atmosphere when it is actuated. [0014] The robot side of the mounting flange is bolted to the robot flange. [0015] The pump motor is supplied from the electrical supply of the cell. [0016] The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller. 3. Operating sequence and conditions [0017] - When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. [0018] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0019] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0020] - Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. [0021] - The workpiece is held until the vent valve has opened the circuit. [0022] The cell controller reads the pressure sensor (the common supply line) and commands the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0023] Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0024] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0025] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0026] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. 5. Provenance and status [0027] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10549431-B2, US-11427405-B1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0028] This publication supersedes OT-2026-000008200, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000104524 Published 2026-09-17T09:16:24.420933Z https://opentechnical.org/p/OT-2026-000104524 { "abstract": "A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one vacuum pump, two zone branches, one pressure sensor and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000104524", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "industrial-motion-power-transmission/fluid-power/vacuum-generation" ], "extent": { "figures": 0, "paragraphs": 28, "words": 1012 }, "figures": [], "files": [ { "bytes": 17745, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "bc91421d4339eeccd2adcd5649fe5e225246be3afe04479ef6f956d8c983547d" }, { "bytes": 7367, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "948cc3a6834616b2c877a6ec84e76bafeb7ac171f4d4da3ddbd8c4b458f4c291" }, { "bytes": 7083, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "2453be5e38efee7eaf4347e33bf82e526da3a78110e826dcab4510cea93fde44" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000104524/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "mounting flange", "foam pad", "vacuum pump", "zone branch", "pressure sensor", "vent valve", "drop release", "electric actuation", "pressure sensing" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000104524", "published_at": "2026-09-17T09:16:24.420933Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000008200", "title": "Foam pad vacuum gripper, two zone face, pump fed, supply line pressure sensor, vented before set-down", "uuid": "01a0aea7-239f-72f2-82e4-67a35d407f09" } n2mUdxZeKYTXTBsuJkXp1FFXLO98vLU8FXS6cpvvMcysBfnMYxJjygypKcI6LnDgh/rZgjbG0IqgrIaja7hnBg== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: n2mUdxZeKYTXTBsuJkXp1FFXLO98vLU8FXS6cpvvMcysBfnMYxJjygypKcI6LnDgh/rZgjbG0IqgrIaja7hnBg== {"files":[{"bytes":17345,"name":"index.html","sha256":"6683e28c196f5813651628f3d4161a624af81ba85cdc5bf0972685dfd2e0b5bd"},{"bytes":7055,"name":"publication.md","sha256":"20e0a4a00495ad9eb09f1267211362ee4cbd7d15a11ab7d58182838220799deb"},{"bytes":6739,"name":"publication.txt","sha256":"f816eaf013d2ec73c272f5212761b9436a4651797b09a240e8d93a19ea7a8fe1"},{"bytes":2803,"name":"manifest.json","sha256":"bedca1a28e8a57ad6bbca2ef2922ddd0f19709b4401a39c8efcd02deeeea6066"},{"bytes":89,"name":"manifest.sig","sha256":"fcb40ec933257837b179f6cbcdd635ad03b0b0ffd0bede0ba6092a87745e9933"},{"bytes":227,"name":"manifest.sig.txt","sha256":"be2f82bfba24f85862a85d20409a9c94ab8b47542ebaaf34c92898b92f3bcdd2"}],"publication_id":"OT-2026-000104525"} Foam pad vacuum gripper, three zone face, plant vacuum fed, supply line pressure sensor, vented after set-down - OpenTechnical OT-2026-000104525

This publication supersedes OT-2026-000008246. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104525

Foam pad vacuum gripper, three zone face, plant vacuum fed, supply line pressure sensor, vented after set-down

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104525
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Vacuum Supply
Document SHA-256: f816eaf013d2ec73c272f5212761b9436a4651797b09a240e8d93a19ea7a8fe1

Abstract

A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, three zone branches, one pressure sensor and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a plant vacuum connection. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, controlling the moment of release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0002]One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot.

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0004]One plant vacuum connection. The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own.

[0006]One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line.

[0007]One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down.

[0008]The foam pad is carried on the tool side of the mounting flange.

[0009]The three zone branches are taken from a branch junction on the plant vacuum connection, so that each branch carries the vacuum of its own zone only.

[0010]Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone.

[0011]The pressure sensor is tapped into the line between the plant vacuum connection and the distribution and reads the pressure of the whole circuit.

[0012]The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated.

[0013]The robot side of the mounting flange is bolted to the robot flange.

[0014]The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller.

3. Operating sequence and conditions

[0015]

When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection.

[0016]

When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor.

[0017]

The workpiece may not be lifted unless the pressure sensor signals a secure grip.

[0018]

After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve.

[0019]

The workpiece is held until the vent valve has opened the circuit.

[0020]The cell controller reads the pressure sensor (the common supply line) and commands the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0021]Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

[0022]The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area.

[0023]The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone.

[0024]Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference.

5. Provenance and status

[0025]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-10549431-B2, US-11427405-B1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0026]This publication supersedes OT-2026-000008246, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000104525, “Foam pad vacuum gripper, three zone face, plant vacuum fed, supply line pressure sensor, vented after set-down,” published September 17, 2026 at 09:16:24 UTC, https://opentechnical.org/p/OT-2026-000104525.

To cite specific content, add the paragraph or figure numbers.

Terms

--- publication_id: "OT-2026-000104525" title: "Foam pad vacuum gripper, three zone face, plant vacuum fed, supply line pressure sensor, vented after set-down" published_at: "2026-09-17T09:16:24.420933Z" canonical_url: "https://opentechnical.org/p/OT-2026-000104525" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply" keywords: - "zoned vacuum tool" - "mounting flange" - "foam pad" - "plant vacuum connection" - "zone branch" - "pressure sensor" - "vent valve" - "plant vacuum supply" - "pressure sensing" - "release control" --- # Foam pad vacuum gripper, three zone face, plant vacuum fed, supply line pressure sensor, vented after set-down ## Abstract A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, three zone branches, one pressure sensor and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a plant vacuum connection. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, controlling the moment of release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One mounting flange.** The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One plant vacuum connection.** The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] **Three zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch. [0006] **One pressure sensor.** The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0007] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The foam pad is carried on the tool side of the mounting flange. [0009] The three zone branches are taken from a branch junction on the plant vacuum connection, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The pressure sensor is tapped into the line between the plant vacuum connection and the distribution and reads the pressure of the whole circuit. [0012] The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated. [0013] The robot side of the mounting flange is bolted to the robot flange. [0014] The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller. ## 3. Operating sequence and conditions - When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. - The workpiece may not be lifted unless the pressure sensor signals a secure grip. - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. - The workpiece is held until the vent valve has opened the circuit. [0020] The cell controller reads the pressure sensor (the common supply line) and commands the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0021] Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0022] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0023] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. [0024] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. ## 5. Provenance and status [0025] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-10549431-B2, US-11427405-B1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0026] This publication supersedes OT-2026-000008246, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. OPENTECHNICAL PUBLICATION OT-2026-000104525 Foam pad vacuum gripper, three zone face, plant vacuum fed, supply line pressure sensor, vented after set-down Published: 2026-09-17T09:16:24.420933Z Permanent URL: https://opentechnical.org/p/OT-2026-000104525 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, three zone branches, one pressure sensor and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a plant vacuum connection. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, controlling the moment of release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One plant vacuum connection. The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] Three zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch. [0006] One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0007] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The foam pad is carried on the tool side of the mounting flange. [0009] The three zone branches are taken from a branch junction on the plant vacuum connection, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The pressure sensor is tapped into the line between the plant vacuum connection and the distribution and reads the pressure of the whole circuit. [0012] The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated. [0013] The robot side of the mounting flange is bolted to the robot flange. [0014] The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller. 3. Operating sequence and conditions [0015] - When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. [0016] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0017] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0018] - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. [0019] - The workpiece is held until the vent valve has opened the circuit. [0020] The cell controller reads the pressure sensor (the common supply line) and commands the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0021] Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0022] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0023] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. [0024] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. 5. Provenance and status [0025] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-10549431-B2, US-11427405-B1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0026] This publication supersedes OT-2026-000008246, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000104525 Published 2026-09-17T09:16:24.420933Z https://opentechnical.org/p/OT-2026-000104525 { "abstract": "A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, three zone branches, one pressure sensor and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000104525", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply" ], "extent": { "figures": 0, "paragraphs": 26, "words": 942 }, "figures": [], "files": [ { "bytes": 17345, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "6683e28c196f5813651628f3d4161a624af81ba85cdc5bf0972685dfd2e0b5bd" }, { "bytes": 7055, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "20e0a4a00495ad9eb09f1267211362ee4cbd7d15a11ab7d58182838220799deb" }, { "bytes": 6739, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "f816eaf013d2ec73c272f5212761b9436a4651797b09a240e8d93a19ea7a8fe1" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000104525/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "mounting flange", "foam pad", "plant vacuum connection", "zone branch", "pressure sensor", "vent valve", "plant vacuum supply", "pressure sensing", "release control" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000104525", "published_at": "2026-09-17T09:16:24.420933Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000008246", "title": "Foam pad vacuum gripper, three zone face, plant vacuum fed, supply line pressure sensor, vented after set-down", "uuid": "01a0aea7-239f-7971-92e4-128fa70ae2de" } cmm5ZhwJhnwL7TZfss4eAAhXDIa4pU+eNBuH54tMsQBAJNsSq1l5lBZraTE7ALsHp7ZIU3OqI/yjGCbvP5l0AA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: cmm5ZhwJhnwL7TZfss4eAAhXDIa4pU+eNBuH54tMsQBAJNsSq1l5lBZraTE7ALsHp7ZIU3OqI/yjGCbvP5l0AA== {"files":[{"bytes":19499,"name":"index.html","sha256":"a12cb7560bc7976914e1dfb8fe1d03a4b27c5330eabd2283858cdd695f8be36e"},{"bytes":8778,"name":"publication.md","sha256":"ac47d91d18005b40a1e145adcf8891786c7dd84f7e08e7db56162d8a03eafaa5"},{"bytes":8450,"name":"publication.txt","sha256":"f800c098ae56b12da4d07f916f382316447d35b4e0bc168e437ba60378c505f8"},{"bytes":2823,"name":"manifest.json","sha256":"57ceb9073a42f5d9dc560441d99510509a714b35ca15e54e8d51dfd452bbbd52"},{"bytes":89,"name":"manifest.sig","sha256":"85fb24b1a3129fc5846186ded32498c560a58ce2c9959d2c4efcb8b8f2c3159d"},{"bytes":227,"name":"manifest.sig.txt","sha256":"f0a21b0fd827956c8a9e956412d453409ec691e1a1c114edb383542bcc691ce7"}],"publication_id":"OT-2026-000104526"} Foam pad vacuum gripper, three zone face, single stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer - OpenTechnical OT-2026-000104526

This publication supersedes OT-2026-000008285. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104526

Foam pad vacuum gripper, three zone face, single stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104526
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Valves and Manifolds
Document SHA-256: f800c098ae56b12da4d07f916f382316447d35b4e0bc168e437ba60378c505f8

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, three zone branches, one pressure sensor, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0006]One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line.

[0008]One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given after set-down.

[0009]The foam pad is carried on the tool side of the tool-change interface.

[0010]The ejector is fixed to the tool side of the tool-change interface.

[0011]The three zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only.

[0012]Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone.

[0013]The pressure sensor is tapped into the line between the ejector and the distribution and reads the pressure of the whole circuit.

[0014]The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face.

[0015]The blow-off valve is connected to the circuit at the ejector outlet, so that compressed air can be driven back through the circuit to the face.

[0016]The robot side of the tool-change interface is bolted to the robot flange.

[0017]The ejector is fed from the compressed air supply of the cell.

[0018]The blow-off valve is fed from the compressed air supply of the cell.

[0019]The blow-off valve is switched by the cell controller; the pressure sensor and the contact detector report to the cell controller.

3. Operating sequence and conditions

[0020]

After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller.

[0021]

When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector.

[0022]

When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor.

[0023]

The workpiece may not be lifted unless the pressure sensor signals a secure grip.

[0024]

After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve.

[0025]

The workpiece is held until the blow-off valve has opened the circuit.

[0026]The cell controller reads the pressure sensor (the common supply line) and the contact detector (on the frame) and commands the blow-off valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0027]Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[0028]The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again.

[0029]The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area.

[0030]The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool.

[0031]Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference.

5. Provenance and status

[0032]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-2022339798-A1, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0033]This publication supersedes OT-2026-000008285, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000104526, “Foam pad vacuum gripper, three zone face, single stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer,” published September 17, 2026 at 09:16:24 UTC, https://opentechnical.org/p/OT-2026-000104526.

To cite specific content, add the paragraph or figure numbers.

Terms

--- publication_id: "OT-2026-000104526" title: "Foam pad vacuum gripper, three zone face, single stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer" published_at: "2026-09-17T09:16:24.420933Z" canonical_url: "https://opentechnical.org/p/OT-2026-000104526" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/position-and-presence-sensing" - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" keywords: - "zoned vacuum tool" - "tool-change interface" - "foam pad" - "ejector" - "zone branch" - "pressure sensor" - "contact detector" - "blow-off valve" - "blow off release" - "compressed air supply" --- # Foam pad vacuum gripper, three zone face, single stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, three zone branches, one pressure sensor, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [0005] **Three zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch. [0006] **One pressure sensor.** The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0007] **One contact detector.** The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0008] **One blow-off valve.** The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given after set-down. [0009] The foam pad is carried on the tool side of the tool-change interface. [0010] The ejector is fixed to the tool side of the tool-change interface. [0011] The three zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0012] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0013] The pressure sensor is tapped into the line between the ejector and the distribution and reads the pressure of the whole circuit. [0014] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0015] The blow-off valve is connected to the circuit at the ejector outlet, so that compressed air can be driven back through the circuit to the face. [0016] The robot side of the tool-change interface is bolted to the robot flange. [0017] The ejector is fed from the compressed air supply of the cell. [0018] The blow-off valve is fed from the compressed air supply of the cell. [0019] The blow-off valve is switched by the cell controller; the pressure sensor and the contact detector report to the cell controller. ## 3. Operating sequence and conditions - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. - The workpiece may not be lifted unless the pressure sensor signals a secure grip. - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. - The workpiece is held until the blow-off valve has opened the circuit. [0026] The cell controller reads the pressure sensor (the common supply line) and the contact detector (on the frame) and commands the blow-off valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0027] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0028] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0029] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0030] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. [0031] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. ## 5. Provenance and status [0032] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-2022339798-A1, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0033] This publication supersedes OT-2026-000008285, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. OPENTECHNICAL PUBLICATION OT-2026-000104526 Foam pad vacuum gripper, three zone face, single stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer Published: 2026-09-17T09:16:24.420933Z Permanent URL: https://opentechnical.org/p/OT-2026-000104526 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, three zone branches, one pressure sensor, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [0005] Three zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch. [0006] One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0007] One contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0008] One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given after set-down. [0009] The foam pad is carried on the tool side of the tool-change interface. [0010] The ejector is fixed to the tool side of the tool-change interface. [0011] The three zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0012] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0013] The pressure sensor is tapped into the line between the ejector and the distribution and reads the pressure of the whole circuit. [0014] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0015] The blow-off valve is connected to the circuit at the ejector outlet, so that compressed air can be driven back through the circuit to the face. [0016] The robot side of the tool-change interface is bolted to the robot flange. [0017] The ejector is fed from the compressed air supply of the cell. [0018] The blow-off valve is fed from the compressed air supply of the cell. [0019] The blow-off valve is switched by the cell controller; the pressure sensor and the contact detector report to the cell controller. 3. Operating sequence and conditions [0020] - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. [0021] - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. [0022] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0023] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0024] - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. [0025] - The workpiece is held until the blow-off valve has opened the circuit. [0026] The cell controller reads the pressure sensor (the common supply line) and the contact detector (on the frame) and commands the blow-off valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0027] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0028] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0029] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0030] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. [0031] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. 5. Provenance and status [0032] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-2022339798-A1, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0033] This publication supersedes OT-2026-000008285, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000104526 Published 2026-09-17T09:16:24.420933Z https://opentechnical.org/p/OT-2026-000104526 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, three zone branches, one pressure sensor, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000104526", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "sensors-controls-machine-vision/position-and-presence-sensing", "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" ], "extent": { "figures": 0, "paragraphs": 33, "words": 1220 }, "figures": [], "files": [ { "bytes": 19499, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "a12cb7560bc7976914e1dfb8fe1d03a4b27c5330eabd2283858cdd695f8be36e" }, { "bytes": 8778, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "ac47d91d18005b40a1e145adcf8891786c7dd84f7e08e7db56162d8a03eafaa5" }, { "bytes": 8450, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "f800c098ae56b12da4d07f916f382316447d35b4e0bc168e437ba60378c505f8" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000104526/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "tool-change interface", "foam pad", "ejector", "zone branch", "pressure sensor", "contact detector", "blow-off valve", "blow off release", "compressed air supply" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000104526", "published_at": "2026-09-17T09:16:24.420933Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000008285", "title": "Foam pad vacuum gripper, three zone face, single stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer", "uuid": "01a0aea7-239f-706e-ba3a-edb49072f5de" } QTyQHO/n9LFtpcm+/D9Xt9UdXnogNG0PkOSXs5tPsKexhDy7x6LuDk5dYxezhkZDa+OtSkW3nwiaIwABPkTcBg== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: QTyQHO/n9LFtpcm+/D9Xt9UdXnogNG0PkOSXs5tPsKexhDy7x6LuDk5dYxezhkZDa+OtSkW3nwiaIwABPkTcBg== {"files":[{"bytes":18823,"name":"index.html","sha256":"14fb3f398c7a3a2a55aaf003306f1b9a21f6b369d5adfcbaef98a1ce3b407d9a"},{"bytes":8253,"name":"publication.md","sha256":"817a5e68e837f7573757149334f3ac34d3c8548e76be302edb73a1f2ab436852"},{"bytes":7935,"name":"publication.txt","sha256":"b2d21eafb18158d6dde47e3297ff4f86d5dda679bc9a9791aa8802fffa706060"},{"bytes":2785,"name":"manifest.json","sha256":"51e63dc974b7dfc0990daa4a6be1c498ba539186c84e14a1a67f48ace8e0282e"},{"bytes":89,"name":"manifest.sig","sha256":"33d488a86d80f03852496f14ecc56b05f595926cacc2fb3d35fd58629b88eb98"},{"bytes":227,"name":"manifest.sig.txt","sha256":"2edeff363e23dd09a5755950e1c7a9a4e57b18a5b0f6ee5ef96c02e24fa3a367"}],"publication_id":"OT-2026-000104527"} Foam pad vacuum gripper, four zone face, single stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer - OpenTechnical OT-2026-000104527

This publication supersedes OT-2026-000008310. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104527

Foam pad vacuum gripper, four zone face, single stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104527
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Tool Changers
Document SHA-256: b2d21eafb18158d6dde47e3297ff4f86d5dda679bc9a9791aa8802fffa706060

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches, one pressure sensor and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0005]Four zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch.

[0006]One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line.

[0008]The foam pad is carried on the tool side of the tool-change interface.

[0009]The ejector is fixed to the tool side of the tool-change interface.

[0010]The four zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only.

[0011]Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone.

[0012]The pressure sensor is tapped into the line between the ejector and the distribution and reads the pressure of the whole circuit.

[0013]The blow-off valve is connected to the circuit at the ejector outlet, so that compressed air can be driven back through the circuit to the face.

[0014]The robot side of the tool-change interface is bolted to the robot flange.

[0015]The ejector is fed from the compressed air supply of the cell.

[0016]The blow-off valve is fed from the compressed air supply of the cell.

[0017]The locking piston of the tool-change interface is fed from the compressed air supply of the cell.

[0018]The blow-off valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensor reports to the cell controller.

3. Operating sequence and conditions

[0019]

When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector.

[0020]

When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor.

[0021]

The workpiece may not be lifted unless the pressure sensor signals a secure grip.

[0022]

After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve.

[0023]

The workpiece is held until the blow-off valve has opened the circuit.

[0024]The cell controller reads the pressure sensor (the common supply line) and commands the blow-off valve, the tool-change interface; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0025]Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[0026]The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again.

[0027]The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area.

[0028]The lock is engaged by compressed air acting on the locking piston and is held only while that air pressure is applied; what the lock does on loss of air pressure is not fixed by this arrangement.

[0029]Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference.

5. Provenance and status

[0030]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0031]This publication supersedes OT-2026-000008310, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000104527, “Foam pad vacuum gripper, four zone face, single stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer,” published September 17, 2026 at 09:16:24 UTC, https://opentechnical.org/p/OT-2026-000104527.

To cite specific content, add the paragraph or figure numbers.

Terms

--- publication_id: "OT-2026-000104527" title: "Foam pad vacuum gripper, four zone face, single stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer" published_at: "2026-09-17T09:16:24.420933Z" canonical_url: "https://opentechnical.org/p/OT-2026-000104527" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" keywords: - "zoned vacuum tool" - "tool-change interface" - "foam pad" - "ejector" - "zone branch" - "pressure sensor" - "blow-off valve" - "blow off release" - "compressed air supply" - "pressure sensing" --- # Foam pad vacuum gripper, four zone face, single stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches, one pressure sensor and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [0005] **Four zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] **One pressure sensor.** The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0007] **One blow-off valve.** The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given after set-down. [0008] The foam pad is carried on the tool side of the tool-change interface. [0009] The ejector is fixed to the tool side of the tool-change interface. [0010] The four zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0011] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0012] The pressure sensor is tapped into the line between the ejector and the distribution and reads the pressure of the whole circuit. [0013] The blow-off valve is connected to the circuit at the ejector outlet, so that compressed air can be driven back through the circuit to the face. [0014] The robot side of the tool-change interface is bolted to the robot flange. [0015] The ejector is fed from the compressed air supply of the cell. [0016] The blow-off valve is fed from the compressed air supply of the cell. [0017] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0018] The blow-off valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensor reports to the cell controller. ## 3. Operating sequence and conditions - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. - The workpiece may not be lifted unless the pressure sensor signals a secure grip. - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. - The workpiece is held until the blow-off valve has opened the circuit. [0024] The cell controller reads the pressure sensor (the common supply line) and commands the blow-off valve, the tool-change interface; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0025] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0026] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0027] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0028] The lock is engaged by compressed air acting on the locking piston and is held only while that air pressure is applied; what the lock does on loss of air pressure is not fixed by this arrangement. [0029] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. ## 5. Provenance and status [0030] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0031] This publication supersedes OT-2026-000008310, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. OPENTECHNICAL PUBLICATION OT-2026-000104527 Foam pad vacuum gripper, four zone face, single stage ejector, supply line pressure sensor, pulsed blow-off after set-down, on a tool changer Published: 2026-09-17T09:16:24.420933Z Permanent URL: https://opentechnical.org/p/OT-2026-000104527 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches, one pressure sensor and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [0005] Four zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0007] One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given after set-down. [0008] The foam pad is carried on the tool side of the tool-change interface. [0009] The ejector is fixed to the tool side of the tool-change interface. [0010] The four zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0011] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0012] The pressure sensor is tapped into the line between the ejector and the distribution and reads the pressure of the whole circuit. [0013] The blow-off valve is connected to the circuit at the ejector outlet, so that compressed air can be driven back through the circuit to the face. [0014] The robot side of the tool-change interface is bolted to the robot flange. [0015] The ejector is fed from the compressed air supply of the cell. [0016] The blow-off valve is fed from the compressed air supply of the cell. [0017] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0018] The blow-off valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensor reports to the cell controller. 3. Operating sequence and conditions [0019] - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. [0020] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0021] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0022] - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. [0023] - The workpiece is held until the blow-off valve has opened the circuit. [0024] The cell controller reads the pressure sensor (the common supply line) and commands the blow-off valve, the tool-change interface; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0025] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0026] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0027] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0028] The lock is engaged by compressed air acting on the locking piston and is held only while that air pressure is applied; what the lock does on loss of air pressure is not fixed by this arrangement. [0029] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. 5. Provenance and status [0030] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0031] This publication supersedes OT-2026-000008310, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000104527 Published 2026-09-17T09:16:24.420933Z https://opentechnical.org/p/OT-2026-000104527 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches, one pressure sensor and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. 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This publication supersedes OT-2026-000011547. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104528

Foam pad vacuum gripper, four zone face, plant vacuum fed, vented after set-down

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104528
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Vacuum Supply, Vacuum Safety Systems
Document SHA-256: 9204dfd124dd9d98b2aac87373ff6daf8e555ba8cd797c2f7a5c09e564c512f7

Abstract

A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, four zone branches and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a plant vacuum connection. It is arranged for handling workpieces that do not cover the whole gripping face, controlling the moment of release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0002]One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot.

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0004]One plant vacuum connection. The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own.

[0006]One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down.

[0007]The foam pad is carried on the tool side of the mounting flange.

[0008]The four zone branches are taken from a branch junction on the plant vacuum connection, so that each branch carries the vacuum of its own zone only.

[0009]Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone.

[0010]The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated.

[0011]The robot side of the mounting flange is bolted to the robot flange.

[0012]The vent valve is switched by the cell controller.

3. Operating sequence and conditions

[0013]

When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection.

[0014]

After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve.

[0015]

The workpiece is held until the vent valve has opened the circuit.

[0016]The cell controller commands the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0017]Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

[0018]The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area.

[0019]The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone.

5. Provenance and status

[0020]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-10549431-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0021]This publication supersedes OT-2026-000011547, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000104528, “Foam pad vacuum gripper, four zone face, plant vacuum fed, vented after set-down,” published September 17, 2026 at 09:16:24 UTC, https://opentechnical.org/p/OT-2026-000104528.

To cite specific content, add the paragraph or figure numbers.

Terms

--- publication_id: "OT-2026-000104528" title: "Foam pad vacuum gripper, four zone face, plant vacuum fed, vented after set-down" published_at: "2026-09-17T09:16:24.420933Z" canonical_url: "https://opentechnical.org/p/OT-2026-000104528" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply" - "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" keywords: - "zoned vacuum tool" - "mounting flange" - "foam pad" - "plant vacuum connection" - "zone branch" - "vent valve" - "plant vacuum supply" - "release control" - "vacuum" - "zoned distribution" --- # Foam pad vacuum gripper, four zone face, plant vacuum fed, vented after set-down ## Abstract A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, four zone branches and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a plant vacuum connection. It is arranged for handling workpieces that do not cover the whole gripping face, controlling the moment of release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One mounting flange.** The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One plant vacuum connection.** The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] **Four zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0007] The foam pad is carried on the tool side of the mounting flange. [0008] The four zone branches are taken from a branch junction on the plant vacuum connection, so that each branch carries the vacuum of its own zone only. [0009] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0010] The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated. [0011] The robot side of the mounting flange is bolted to the robot flange. [0012] The vent valve is switched by the cell controller. ## 3. Operating sequence and conditions - When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. - The workpiece is held until the vent valve has opened the circuit. [0016] The cell controller commands the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0017] Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0018] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0019] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. ## 5. Provenance and status [0020] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-10549431-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0021] This publication supersedes OT-2026-000011547, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. OPENTECHNICAL PUBLICATION OT-2026-000104528 Foam pad vacuum gripper, four zone face, plant vacuum fed, vented after set-down Published: 2026-09-17T09:16:24.420933Z Permanent URL: https://opentechnical.org/p/OT-2026-000104528 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, four zone branches and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a plant vacuum connection. It is arranged for handling workpieces that do not cover the whole gripping face, controlling the moment of release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One plant vacuum connection. The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] Four zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0007] The foam pad is carried on the tool side of the mounting flange. [0008] The four zone branches are taken from a branch junction on the plant vacuum connection, so that each branch carries the vacuum of its own zone only. [0009] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0010] The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated. [0011] The robot side of the mounting flange is bolted to the robot flange. [0012] The vent valve is switched by the cell controller. 3. Operating sequence and conditions [0013] - When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. [0014] - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. [0015] - The workpiece is held until the vent valve has opened the circuit. [0016] The cell controller commands the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0017] Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0018] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0019] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. 5. Provenance and status [0020] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-10549431-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0021] This publication supersedes OT-2026-000011547, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000104528 Published 2026-09-17T09:16:24.420933Z https://opentechnical.org/p/OT-2026-000104528 { "abstract": "A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, four zone branches and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000104528", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply", "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" ], "extent": { "figures": 0, "paragraphs": 21, "words": 767 }, "figures": [], "files": [ { "bytes": 15830, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "92d70fc0ad4567af79db08759f7459ccd769fd4a353acb4dc7f332a9ac22d29f" }, { "bytes": 5882, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "96756d2c6fa84cd852eebcc0c866e97d6bfd077495f3a39d302fd4ade61f9e5a" }, { "bytes": 5593, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "9204dfd124dd9d98b2aac87373ff6daf8e555ba8cd797c2f7a5c09e564c512f7" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000104528/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "mounting flange", "foam pad", "plant vacuum connection", "zone branch", "vent valve", "plant vacuum supply", "release control", "vacuum", "zoned distribution" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000104528", "published_at": "2026-09-17T09:16:24.420933Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000011547", "title": "Foam pad vacuum gripper, four zone face, plant vacuum fed, vented after set-down", "uuid": "01a0aea7-239f-7d6a-95f0-31e6c6a9363d" } rEken8FO4kEazdKz+cO6exPTiE2S7vP1x5HrhmmfhUToWA+xGpPA2lyFL9eJfhO+IFxzfmLT3vio6HgFDIEXDw== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: rEken8FO4kEazdKz+cO6exPTiE2S7vP1x5HrhmmfhUToWA+xGpPA2lyFL9eJfhO+IFxzfmLT3vio6HgFDIEXDw== {"files":[{"bytes":16448,"name":"index.html","sha256":"0416ceb2663b09e2c17b8dfaa58f239e32bfe3617c145f4deb0c6f68cb67d98f"},{"bytes":6367,"name":"publication.md","sha256":"16c2fd73053c5a757af324ec7e108bd299c4a6f305578218f669ec1e9704d647"},{"bytes":6101,"name":"publication.txt","sha256":"5326e95adddb325fedcb02cbd5092fae40afb12a1c84713ff9feb13ed92382ed"},{"bytes":2690,"name":"manifest.json","sha256":"cb20e96bc70452dd4ab558fd6cf1d21b5a86ad115a98c9959ce4dbf7c2164986"},{"bytes":89,"name":"manifest.sig","sha256":"bd86a1189d0f4349d59e1910636599834789befafcf9c1a4fc25457649a5a2b9"},{"bytes":227,"name":"manifest.sig.txt","sha256":"41393b1d653b91eab3be6166af655a6a672dc2a7356a2e70ec607421f752b78f"}],"publication_id":"OT-2026-000104529"} Foam pad vacuum gripper, two zone face, two stage ejector, vented after set-down, on a tool changer - OpenTechnical OT-2026-000104529

This publication supersedes OT-2026-000011561. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104529

Foam pad vacuum gripper, two zone face, two stage ejector, vented after set-down, on a tool changer

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104529
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Tool Changers, Vacuum Generation
Document SHA-256: 5326e95adddb325fedcb02cbd5092fae40afb12a1c84713ff9feb13ed92382ed

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, two zone branches and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0006]One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down.

[0007]The foam pad is carried on the tool side of the tool-change interface.

[0008]The ejector is fixed to the tool side of the tool-change interface.

[0009]The two zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only.

[0010]Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone.

[0011]The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated.

[0012]The robot side of the tool-change interface is bolted to the robot flange.

[0013]The ejector is fed from the compressed air supply of the cell.

[0014]The vent valve is switched by the cell controller.

3. Operating sequence and conditions

[0015]

When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector.

[0016]

After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve.

[0017]

The workpiece is held until the vent valve has opened the circuit.

[0018]The cell controller commands the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0019]Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

[0020]The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area.

[0021]The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool.

5. Provenance and status

[0022]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0023]This publication supersedes OT-2026-000011561, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000104529, “Foam pad vacuum gripper, two zone face, two stage ejector, vented after set-down, on a tool changer,” published September 17, 2026 at 09:16:24 UTC, https://opentechnical.org/p/OT-2026-000104529.

To cite specific content, add the paragraph or figure numbers.

Terms

--- publication_id: "OT-2026-000104529" title: "Foam pad vacuum gripper, two zone face, two stage ejector, vented after set-down, on a tool changer" published_at: "2026-09-17T09:16:24.420933Z" canonical_url: "https://opentechnical.org/p/OT-2026-000104529" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" keywords: - "zoned vacuum tool" - "tool-change interface" - "foam pad" - "ejector" - "zone branch" - "vent valve" - "compressed air supply" - "release control" - "tool changing" - "vacuum" --- # Foam pad vacuum gripper, two zone face, two stage ejector, vented after set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, two zone branches and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has two stages. [0005] **Two zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of two follows from the arrangement: one branch per zone. The distribution is divided into two zones, each fed by its own branch. [0006] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0007] The foam pad is carried on the tool side of the tool-change interface. [0008] The ejector is fixed to the tool side of the tool-change interface. [0009] The two zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0012] The robot side of the tool-change interface is bolted to the robot flange. [0013] The ejector is fed from the compressed air supply of the cell. [0014] The vent valve is switched by the cell controller. ## 3. Operating sequence and conditions - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. - The workpiece is held until the vent valve has opened the circuit. [0018] The cell controller commands the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0019] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0020] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0021] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. ## 5. Provenance and status [0022] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0023] This publication supersedes OT-2026-000011561, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. OPENTECHNICAL PUBLICATION OT-2026-000104529 Foam pad vacuum gripper, two zone face, two stage ejector, vented after set-down, on a tool changer Published: 2026-09-17T09:16:24.420933Z Permanent URL: https://opentechnical.org/p/OT-2026-000104529 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, two zone branches and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has two stages. [0005] Two zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of two follows from the arrangement: one branch per zone. The distribution is divided into two zones, each fed by its own branch. [0006] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0007] The foam pad is carried on the tool side of the tool-change interface. [0008] The ejector is fixed to the tool side of the tool-change interface. [0009] The two zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0012] The robot side of the tool-change interface is bolted to the robot flange. [0013] The ejector is fed from the compressed air supply of the cell. [0014] The vent valve is switched by the cell controller. 3. Operating sequence and conditions [0015] - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. [0016] - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. [0017] - The workpiece is held until the vent valve has opened the circuit. [0018] The cell controller commands the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0019] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0020] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0021] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. 5. Provenance and status [0022] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0023] This publication supersedes OT-2026-000011561, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000104529 Published 2026-09-17T09:16:24.420933Z https://opentechnical.org/p/OT-2026-000104529 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, two zone branches and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000104529", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "robotics-automation/end-effectors/tool-changers", "industrial-motion-power-transmission/fluid-power/vacuum-generation" ], "extent": { "figures": 0, "paragraphs": 23, "words": 854 }, "figures": [], "files": [ { "bytes": 16448, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "0416ceb2663b09e2c17b8dfaa58f239e32bfe3617c145f4deb0c6f68cb67d98f" }, { "bytes": 6367, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "16c2fd73053c5a757af324ec7e108bd299c4a6f305578218f669ec1e9704d647" }, { "bytes": 6101, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "5326e95adddb325fedcb02cbd5092fae40afb12a1c84713ff9feb13ed92382ed" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000104529/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "tool-change interface", "foam pad", "ejector", "zone branch", "vent valve", "compressed air supply", "release control", "tool changing", "vacuum" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000104529", "published_at": "2026-09-17T09:16:24.420933Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000011561", "title": "Foam pad vacuum gripper, two zone face, two stage ejector, vented after set-down, on a tool changer", "uuid": "01a0aea7-239f-7478-88bf-49a5e66a74c4" } gwXxcJrWXZIIcX8rYOtqlTwQnUdVRmjE7b1yL4wxoV+wEr8MY9oBWh1YBSsI2shT2+B9zioqx0V7oqv1iYJADQ== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: gwXxcJrWXZIIcX8rYOtqlTwQnUdVRmjE7b1yL4wxoV+wEr8MY9oBWh1YBSsI2shT2+B9zioqx0V7oqv1iYJADQ== {"files":[{"bytes":16723,"name":"index.html","sha256":"1fd76ea4b392a0d0582557b137b55a48099057d716cf8ca16993193b4e0e30cb"},{"bytes":6593,"name":"publication.md","sha256":"ac2baf5fb7682b6a3d2c099bb27b6f294b04705b05ad9b27a7a0907bb63a30de"},{"bytes":6324,"name":"publication.txt","sha256":"029c7cc8861ffbbb79460732923cceb48c3de0e57dd18eca8cb62490e0cb0c6f"},{"bytes":2694,"name":"manifest.json","sha256":"c8ab56f145273f12e297aed1234829fac83d837d2fc04067c59affc687ac088c"},{"bytes":89,"name":"manifest.sig","sha256":"71fc2415ceb581c96577eb67855417acf129de89984732946a82faf776c1512e"},{"bytes":227,"name":"manifest.sig.txt","sha256":"c7d6a084c64211d5606b8f7d81dd8237acec3dfcfcdee3a93dc12764ba49e02f"}],"publication_id":"OT-2026-000104530"} Foam pad vacuum gripper, four zone face, three stage ejector, vented after set-down, on a tool changer - OpenTechnical OT-2026-000104530

This publication supersedes OT-2026-000010192. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104530

Foam pad vacuum gripper, four zone face, three stage ejector, vented after set-down, on a tool changer

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104530
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Tool Changers, Vacuum Generation
Document SHA-256: 029c7cc8861ffbbb79460732923cceb48c3de0e57dd18eca8cb62490e0cb0c6f

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0006]One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down.

[0007]The foam pad is carried on the tool side of the tool-change interface.

[0008]The ejector is fixed to the tool side of the tool-change interface.

[0009]The four zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only.

[0010]Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone.

[0011]The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated.

[0012]The robot side of the tool-change interface is bolted to the robot flange.

[0013]The ejector is fed from the compressed air supply of the cell.

[0014]The locking piston of the tool-change interface is fed from the compressed air supply of the cell.

[0015]The vent valve and the lock of the tool-change interface are switched by the cell controller.

3. Operating sequence and conditions

[0016]

When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector.

[0017]

After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve.

[0018]

The workpiece is held until the vent valve has opened the circuit.

[0019]The cell controller commands the tool-change interface, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0020]Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

[0022]The lock is engaged by compressed air acting on the locking piston and is held only while that air pressure is applied; what the lock does on loss of air pressure is not fixed by this arrangement.

5. Provenance and status

[0023]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0024]This publication supersedes OT-2026-000010192, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000104530, “Foam pad vacuum gripper, four zone face, three stage ejector, vented after set-down, on a tool changer,” published September 17, 2026 at 09:16:24 UTC, https://opentechnical.org/p/OT-2026-000104530.

To cite specific content, add the paragraph or figure numbers.

Terms

--- publication_id: "OT-2026-000104530" title: "Foam pad vacuum gripper, four zone face, three stage ejector, vented after set-down, on a tool changer" published_at: "2026-09-17T09:16:24.420933Z" canonical_url: "https://opentechnical.org/p/OT-2026-000104530" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" keywords: - "zoned vacuum tool" - "tool-change interface" - "foam pad" - "ejector" - "zone branch" - "vent valve" - "compressed air supply" - "release control" - "tool changing" - "vacuum" --- # Foam pad vacuum gripper, four zone face, three stage ejector, vented after set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has three stages. [0005] **Four zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0007] The foam pad is carried on the tool side of the tool-change interface. [0008] The ejector is fixed to the tool side of the tool-change interface. [0009] The four zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0012] The robot side of the tool-change interface is bolted to the robot flange. [0013] The ejector is fed from the compressed air supply of the cell. [0014] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0015] The vent valve and the lock of the tool-change interface are switched by the cell controller. ## 3. Operating sequence and conditions - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. - The workpiece is held until the vent valve has opened the circuit. [0019] The cell controller commands the tool-change interface, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0020] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0021] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0022] The lock is engaged by compressed air acting on the locking piston and is held only while that air pressure is applied; what the lock does on loss of air pressure is not fixed by this arrangement. ## 5. Provenance and status [0023] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0024] This publication supersedes OT-2026-000010192, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. OPENTECHNICAL PUBLICATION OT-2026-000104530 Foam pad vacuum gripper, four zone face, three stage ejector, vented after set-down, on a tool changer Published: 2026-09-17T09:16:24.420933Z Permanent URL: https://opentechnical.org/p/OT-2026-000104530 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has three stages. [0005] Four zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0007] The foam pad is carried on the tool side of the tool-change interface. [0008] The ejector is fixed to the tool side of the tool-change interface. [0009] The four zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0012] The robot side of the tool-change interface is bolted to the robot flange. [0013] The ejector is fed from the compressed air supply of the cell. [0014] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0015] The vent valve and the lock of the tool-change interface are switched by the cell controller. 3. Operating sequence and conditions [0016] - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. [0017] - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. [0018] - The workpiece is held until the vent valve has opened the circuit. [0019] The cell controller commands the tool-change interface, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0020] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0021] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0022] The lock is engaged by compressed air acting on the locking piston and is held only while that air pressure is applied; what the lock does on loss of air pressure is not fixed by this arrangement. 5. Provenance and status [0023] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0024] This publication supersedes OT-2026-000010192, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000104530 Published 2026-09-17T09:16:24.420933Z https://opentechnical.org/p/OT-2026-000104530 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. 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This publication supersedes OT-2026-000008899. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104531

Foam pad vacuum gripper, four zone face, three stage ejector, pressure sensor per zone, vented before set-down, on a tool changer

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104531
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Tool Changers
Document SHA-256: 59b7ec1d1d4661f1f6b8b0280a8e2eacf837b48aaac6a7e01bb51376e89bc7f6

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches, four pressure sensors and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0006]Four pressure sensors. Each pressure sensor taps the line it is placed in and reports the vacuum level in that line. The count of four follows from the arrangement: one sensor per zone branch. The pressure is measured at each zone.

[0007]One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down.

[0008]The foam pad is carried on the tool side of the tool-change interface.

[0009]The ejector is fixed to the tool side of the tool-change interface.

[0010]The four zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only.

[0011]Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone.

[0012]One pressure sensor is tapped into each zone line, so that each of the four sensors reads its own zone and no other.

[0013]The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated.

[0014]The robot side of the tool-change interface is bolted to the robot flange.

[0015]The ejector is fed from the compressed air supply of the cell.

[0016]The locking piston of the tool-change interface is fed from the compressed air supply of the cell.

[0017]The vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensors reports to the cell controller.

3. Operating sequence and conditions

[0018]

When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector.

[0019]

When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor of each zone in use.

[0020]

The workpiece may not be lifted unless the pressure sensor of each zone in use signals a secure grip.

[0021]

Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface.

[0022]

The workpiece is held until the vent valve has opened the circuit.

[0023]The cell controller reads the pressure sensor (each zone line) and commands the tool-change interface, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0024]Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); placement of the pressure sensors: at each zone (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

[0025]A zone is in use when the workpiece covers it. Which zones are in use is decided by the controller from the workpiece programme; this arrangement fixes where each zone is measured, not how the programme is written.

[0026]The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here.

5. Provenance and status

[0030]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0031]This publication supersedes OT-2026-000008899, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000104531, “Foam pad vacuum gripper, four zone face, three stage ejector, pressure sensor per zone, vented before set-down, on a tool changer,” published September 17, 2026 at 09:16:24 UTC, https://opentechnical.org/p/OT-2026-000104531.

To cite specific content, add the paragraph or figure numbers.

Terms

--- publication_id: "OT-2026-000104531" title: "Foam pad vacuum gripper, four zone face, three stage ejector, pressure sensor per zone, vented before set-down, on a tool changer" published_at: "2026-09-17T09:16:24.420933Z" canonical_url: "https://opentechnical.org/p/OT-2026-000104531" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" keywords: - "zoned vacuum tool" - "tool-change interface" - "foam pad" - "ejector" - "zone branch" - "pressure sensor" - "vent valve" - "compressed air supply" - "drop release" - "per zone measurement" --- # Foam pad vacuum gripper, four zone face, three stage ejector, pressure sensor per zone, vented before set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches, four pressure sensors and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has three stages. [0005] **Four zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] **Four pressure sensors.** Each pressure sensor taps the line it is placed in and reports the vacuum level in that line. The count of four follows from the arrangement: one sensor per zone branch. The pressure is measured at each zone. [0007] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0008] The foam pad is carried on the tool side of the tool-change interface. [0009] The ejector is fixed to the tool side of the tool-change interface. [0010] The four zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0011] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0012] One pressure sensor is tapped into each zone line, so that each of the four sensors reads its own zone and no other. [0013] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0014] The robot side of the tool-change interface is bolted to the robot flange. [0015] The ejector is fed from the compressed air supply of the cell. [0016] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0017] The vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensors reports to the cell controller. ## 3. Operating sequence and conditions - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor of each zone in use. - The workpiece may not be lifted unless the pressure sensor of each zone in use signals a secure grip. - Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. - The workpiece is held until the vent valve has opened the circuit. [0023] The cell controller reads the pressure sensor (each zone line) and commands the tool-change interface, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); placement of the pressure sensors: at each zone (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0025] A zone is in use when the workpiece covers it. Which zones are in use is decided by the controller from the workpiece programme; this arrangement fixes where each zone is measured, not how the programme is written. [0026] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0027] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0028] The lock is engaged by compressed air acting on the locking piston and is held only while that air pressure is applied; what the lock does on loss of air pressure is not fixed by this arrangement. [0029] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. ## 5. Provenance and status [0030] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0031] This publication supersedes OT-2026-000008899, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. OPENTECHNICAL PUBLICATION OT-2026-000104531 Foam pad vacuum gripper, four zone face, three stage ejector, pressure sensor per zone, vented before set-down, on a tool changer Published: 2026-09-17T09:16:24.420933Z Permanent URL: https://opentechnical.org/p/OT-2026-000104531 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches, four pressure sensors and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has three stages. [0005] Four zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] Four pressure sensors. Each pressure sensor taps the line it is placed in and reports the vacuum level in that line. The count of four follows from the arrangement: one sensor per zone branch. The pressure is measured at each zone. [0007] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0008] The foam pad is carried on the tool side of the tool-change interface. [0009] The ejector is fixed to the tool side of the tool-change interface. [0010] The four zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0011] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0012] One pressure sensor is tapped into each zone line, so that each of the four sensors reads its own zone and no other. [0013] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0014] The robot side of the tool-change interface is bolted to the robot flange. [0015] The ejector is fed from the compressed air supply of the cell. [0016] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0017] The vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensors reports to the cell controller. 3. Operating sequence and conditions [0018] - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. [0019] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor of each zone in use. [0020] - The workpiece may not be lifted unless the pressure sensor of each zone in use signals a secure grip. [0021] - Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. [0022] - The workpiece is held until the vent valve has opened the circuit. [0023] The cell controller reads the pressure sensor (each zone line) and commands the tool-change interface, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); placement of the pressure sensors: at each zone (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0025] A zone is in use when the workpiece covers it. Which zones are in use is decided by the controller from the workpiece programme; this arrangement fixes where each zone is measured, not how the programme is written. [0026] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0027] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0028] The lock is engaged by compressed air acting on the locking piston and is held only while that air pressure is applied; what the lock does on loss of air pressure is not fixed by this arrangement. [0029] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. 5. Provenance and status [0030] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0031] This publication supersedes OT-2026-000008899, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000104531 Published 2026-09-17T09:16:24.420933Z https://opentechnical.org/p/OT-2026-000104531 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches, four pressure sensors and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000104531", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "robotics-automation/end-effectors/tool-changers" ], "extent": { "figures": 0, "paragraphs": 31, "words": 1193 }, "figures": [], "files": [ { "bytes": 19042, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "51dc6b9a4febf55d736030919f74949df9943d516fe26dafbdf798e3ff4d7908" }, { "bytes": 8492, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "7a47d9efa82d0d8d7c1eee8637a48330680441fef0393bc8da7e7bef32d7ffb8" }, { "bytes": 8190, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "59b7ec1d1d4661f1f6b8b0280a8e2eacf837b48aaac6a7e01bb51376e89bc7f6" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000104531/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "tool-change interface", "foam pad", "ejector", "zone branch", "pressure sensor", "vent valve", "compressed air supply", "drop release", "per zone measurement" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000104531", "published_at": "2026-09-17T09:16:24.420933Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000008899", "title": "Foam pad vacuum gripper, four zone face, three stage ejector, pressure sensor per zone, vented before set-down, on a tool changer", "uuid": "01a0aea7-239f-7a13-a28c-5f0800820c60" } /oeYQAhc+eTCTKi8lUf+QpdwqewnYQcazNyfe7Ae30WIXMqjLavimiDjS0xtiJHqj07xtAPP5V8UMJ9rUdedAA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: /oeYQAhc+eTCTKi8lUf+QpdwqewnYQcazNyfe7Ae30WIXMqjLavimiDjS0xtiJHqj07xtAPP5V8UMJ9rUdedAA== {"files":[{"bytes":17439,"name":"index.html","sha256":"815ef2157df8866c50dce3c850f4a8e383e0ea62a02e49304601945c62559353"},{"bytes":7148,"name":"publication.md","sha256":"91562933a4432a23f42dfb5db07cfc10fd59d0aa8efb2d0ce53984311acfab11"},{"bytes":6869,"name":"publication.txt","sha256":"e11550f301270c5aae7e7c7f2ae70b975ddd426dda8c7bafc33150f3d6e8e62d"},{"bytes":2730,"name":"manifest.json","sha256":"7893f7c844650865595cbd001888cc78ab9ea1c2823dfc1fb4862db85ed7f255"},{"bytes":89,"name":"manifest.sig","sha256":"01fd49bb38fb8b443e8311b4dc4307222c1173f9b0034f52d32c5324c0c4cbf3"},{"bytes":227,"name":"manifest.sig.txt","sha256":"a5486699ce5f603ae816b2954a9c09723a6948c37d7b887fb756ccbcb3a13fa2"}],"publication_id":"OT-2026-000104532"} Foam pad vacuum gripper, two zone face, single stage ejector, pulsed blow-off after set-down - OpenTechnical OT-2026-000104532

This publication supersedes OT-2026-000008953. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104532

Foam pad vacuum gripper, two zone face, single stage ejector, pulsed blow-off after set-down

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104532
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Valves and Manifolds, Vacuum Generation
Document SHA-256: e11550f301270c5aae7e7c7f2ae70b975ddd426dda8c7bafc33150f3d6e8e62d

Abstract

A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one ejector, two zone branches, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, starting the cycle at the moment of contact, clearing the face at release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0002]One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot.

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0008]The foam pad is carried on the tool side of the mounting flange.

[0009]The ejector is fixed to the tool side of the mounting flange.

[0010]The two zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only.

[0011]Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone.

[0012]The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face.

[0013]The blow-off valve is connected to the circuit at the ejector outlet, so that compressed air can be driven back through the circuit to the face.

[0014]The robot side of the mounting flange is bolted to the robot flange.

[0015]The ejector is fed from the compressed air supply of the cell.

[0016]The blow-off valve is fed from the compressed air supply of the cell.

[0017]The blow-off valve is switched by the cell controller; the contact detector reports to the cell controller.

3. Operating sequence and conditions

[0018]

After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller.

[0019]

When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector.

[0020]

After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve.

[0021]

The workpiece is held until the blow-off valve has opened the circuit.

[0022]The cell controller reads the contact detector (on the frame) and commands the blow-off valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0023]Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[0024]The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again.

5. Provenance and status

[0026]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10549431-B2, US-2022339798-A1, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0027]This publication supersedes OT-2026-000008953, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000104532, “Foam pad vacuum gripper, two zone face, single stage ejector, pulsed blow-off after set-down,” published September 17, 2026 at 09:16:24 UTC, https://opentechnical.org/p/OT-2026-000104532.

To cite specific content, add the paragraph or figure numbers.

Terms

--- publication_id: "OT-2026-000104532" title: "Foam pad vacuum gripper, two zone face, single stage ejector, pulsed blow-off after set-down" published_at: "2026-09-17T09:16:24.420933Z" canonical_url: "https://opentechnical.org/p/OT-2026-000104532" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/position-and-presence-sensing" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" keywords: - "zoned vacuum tool" - "mounting flange" - "foam pad" - "ejector" - "zone branch" - "contact detector" - "blow-off valve" - "blow off release" - "compressed air supply" - "contact sensing" --- # Foam pad vacuum gripper, two zone face, single stage ejector, pulsed blow-off after set-down ## Abstract A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one ejector, two zone branches, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, starting the cycle at the moment of contact, clearing the face at release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One mounting flange.** The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [0005] **Two zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of two follows from the arrangement: one branch per zone. The distribution is divided into two zones, each fed by its own branch. [0006] **One contact detector.** The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0007] **One blow-off valve.** The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given after set-down. [0008] The foam pad is carried on the tool side of the mounting flange. [0009] The ejector is fixed to the tool side of the mounting flange. [0010] The two zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0011] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0012] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0013] The blow-off valve is connected to the circuit at the ejector outlet, so that compressed air can be driven back through the circuit to the face. [0014] The robot side of the mounting flange is bolted to the robot flange. [0015] The ejector is fed from the compressed air supply of the cell. [0016] The blow-off valve is fed from the compressed air supply of the cell. [0017] The blow-off valve is switched by the cell controller; the contact detector reports to the cell controller. ## 3. Operating sequence and conditions - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. - The workpiece is held until the blow-off valve has opened the circuit. [0022] The cell controller reads the contact detector (on the frame) and commands the blow-off valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0023] Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0024] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0025] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. ## 5. Provenance and status [0026] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10549431-B2, US-2022339798-A1, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0027] This publication supersedes OT-2026-000008953, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. OPENTECHNICAL PUBLICATION OT-2026-000104532 Foam pad vacuum gripper, two zone face, single stage ejector, pulsed blow-off after set-down Published: 2026-09-17T09:16:24.420933Z Permanent URL: https://opentechnical.org/p/OT-2026-000104532 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one ejector, two zone branches, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, starting the cycle at the moment of contact, clearing the face at release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [0005] Two zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of two follows from the arrangement: one branch per zone. The distribution is divided into two zones, each fed by its own branch. [0006] One contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0007] One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given after set-down. [0008] The foam pad is carried on the tool side of the mounting flange. [0009] The ejector is fixed to the tool side of the mounting flange. [0010] The two zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0011] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0012] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0013] The blow-off valve is connected to the circuit at the ejector outlet, so that compressed air can be driven back through the circuit to the face. [0014] The robot side of the mounting flange is bolted to the robot flange. [0015] The ejector is fed from the compressed air supply of the cell. [0016] The blow-off valve is fed from the compressed air supply of the cell. [0017] The blow-off valve is switched by the cell controller; the contact detector reports to the cell controller. 3. Operating sequence and conditions [0018] - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. [0019] - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. [0020] - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. [0021] - The workpiece is held until the blow-off valve has opened the circuit. [0022] The cell controller reads the contact detector (on the frame) and commands the blow-off valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0023] Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0024] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0025] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. 5. Provenance and status [0026] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10549431-B2, US-2022339798-A1, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0027] This publication supersedes OT-2026-000008953, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: isolation valve removed. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000104532 Published 2026-09-17T09:16:24.420933Z https://opentechnical.org/p/OT-2026-000104532 { "abstract": "A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one ejector, two zone branches, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. 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This publication supersedes OT-2026-000009273. The earlier publication remains publicly accessible and unchanged.

OT-2026-000104533

Foam pad vacuum gripper, four zone face, single stage ejector, sustained blow-off after set-down

Published: September 17, 2026 at 09:16:24 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000104533
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Valves and Manifolds, Vacuum Generation
Document SHA-256: 4e5d10aedcf7748ddf56dcb05576b6bd260882591126683796aa5805b9cf950b

Abstract

A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one ejector, four zone branches, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

2. Components, construction and connections

[0002]One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot.

[0003]One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam.

[0007]One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a sustained blast. The blow-off pulse is given after set-down.