Foam pad vacuum gripper, three zone face, six outlet manifold, three stage ejector, vented before set-down, on a tool changer

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This publication supersedes OT-2026-000004496. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008817

Foam pad vacuum gripper, three zone face, six outlet manifold, three stage ejector, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008817
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Tool Changers, Vacuum Generation
Document SHA-256: 6438e45cf1e7d8d951c39e78d9a88eca54ce28fbe524611438d73758dfdcb3a9

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, one manifold, three zone branches 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, 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 closed 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]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets.

[0006]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.

[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 manifold is fixed to the tool side of the tool-change interface.

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

[0011]The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold.

[0012]Each of the three zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only.

[0013]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.

[0014]The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated.

[0015]The robot side of the tool-change interface is bolted to the robot flange.

[0016]The ejector is fed from the compressed air supply of the cell.

[0017]The remaining three manifold outlets are plugged and carry no line.

[0018]The vent valve is switched by 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]

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 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: closed 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); outlets of the manifold: six (sets how many lines can be fed from one inlet); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); 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 closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece.

[0026]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

[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-11858125-B2, US-8006968-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

[0028]This publication supersedes OT-2026-000004496, 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: manifold outlets raised to feed every zone; foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008817, “Foam pad vacuum gripper, three zone face, six outlet manifold, three stage ejector, vented before set-down, on a tool changer,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008817.

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-2026-000008817" title: "Foam pad vacuum gripper, three zone face, six outlet manifold, three stage ejector, vented before set-down, on a tool changer" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008817" 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" - "manifold" - "zone branch" - "vent valve" - "compressed air supply" - "drop release" - "release control" --- # Foam pad vacuum gripper, three zone face, six outlet manifold, three stage ejector, vented before set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, one manifold, three zone branches 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, 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 closed 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] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [0006] **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. [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 manifold is fixed to the tool side of the tool-change interface. [0010] The ejector is fixed to the tool side of the tool-change interface. [0011] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0012] Each of the three zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only. [0013] 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. [0014] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0015] The robot side of the tool-change interface is bolted to the robot flange. [0016] The ejector is fed from the compressed air supply of the cell. [0017] The remaining three manifold outlets are plugged and carry no line. [0018] 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. - 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 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: closed 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); outlets of the manifold: six (sets how many lines can be fed from one inlet); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); 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 closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece. [0026] 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 [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-11858125-B2, US-8006968-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 [0028] This publication supersedes OT-2026-000004496, 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: manifold outlets raised to feed every zone; foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. OPENTECHNICAL PUBLICATION OT-2026-000008817 Foam pad vacuum gripper, three zone face, six outlet manifold, three stage ejector, vented before set-down, on a tool changer Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008817 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, one manifold, three zone branches 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, 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 closed 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] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [0006] 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. [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 manifold is fixed to the tool side of the tool-change interface. [0010] The ejector is fixed to the tool side of the tool-change interface. [0011] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0012] Each of the three zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only. [0013] 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. [0014] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0015] The robot side of the tool-change interface is bolted to the robot flange. [0016] The ejector is fed from the compressed air supply of the cell. [0017] The remaining three manifold outlets are plugged and carry no line. [0018] The vent valve is switched by 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] - 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 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: closed 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); outlets of the manifold: six (sets how many lines can be fed from one inlet); material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); 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 closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece. [0026] 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 [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-11858125-B2, US-8006968-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 [0028] This publication supersedes OT-2026-000004496, 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: manifold outlets raised to feed every zone; foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008817 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008817 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, one manifold, three zone branches 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. 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This publication supersedes OT-2026-000004497. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008818

Single cup vacuum gripper, two stage ejector, supply line pressure sensor, sustained blow-off after set-down

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008818
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Vacuum Generation
Document SHA-256: 3f34999dd066847b30123289e3372b7b210e4a0d53bb01b30ef4a07bf1bd780d

Abstract

A suction-cup vacuum gripping tool comprising one mounting flange, one suction cup, one ejector, one pressure sensor, one contact detector and one blow-off valve. When the suction cup reaches the workpiece, the suction cup 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 suction-cup vacuum gripping tool: one suction cup carried on a mounting flange, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact and clearing the face at release. 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 suction cup. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the flat form.

[0005]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.

[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 sustained blast. The blow-off pulse is given after set-down.

[0008]The suction cup 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 suction cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line.

[0011]The pressure sensor is tapped into the line between the ejector and the suction cup and reads the pressure of the whole circuit.

[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 pressure sensor and the contact detector report 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 suction cup reaches the workpiece, the suction cup 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 the contact detector (on the frame) and commands the blow-off valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0025]Parameter values of this embodiment: form of the suction cup: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); 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 sustained blast (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 sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away.

[0027]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

[0028]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 US-10549431-B2, US-11427405-B1, US-2016214812-A1, US-2022339798-A1, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0029]This publication supersedes OT-2026-000004497, 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: per-zone measurement without zones changed to the supply line; suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008818, “Single cup vacuum gripper, two stage ejector, supply line pressure sensor, sustained blow-off after set-down,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008818.

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

Terms

--- publication_id: "OT-2026-000008818" title: "Single cup vacuum gripper, two stage ejector, supply line pressure sensor, sustained blow-off after set-down" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008818" 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/vacuum-generation" keywords: - "discrete suction cup tool" - "mounting flange" - "suction cup" - "ejector" - "pressure sensor" - "contact detector" - "blow-off valve" - "blow off release" - "compressed air supply" - "contact sensing" --- # Single cup vacuum gripper, two stage ejector, supply line pressure sensor, sustained blow-off after set-down ## Abstract A suction-cup vacuum gripping tool comprising one mounting flange, one suction cup, one ejector, one pressure sensor, one contact detector and one blow-off valve. When the suction cup reaches the workpiece, the suction cup 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 suction-cup vacuum gripping tool: one suction cup carried on a mounting flange, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact and clearing the face at release. 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 suction cup.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the flat form. [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] **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. [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 sustained blast. The blow-off pulse is given after set-down. [0008] The suction cup 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 suction cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line. [0011] The pressure sensor is tapped into the line between the ejector and the suction cup and reads the pressure of the whole circuit. [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 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 suction cup reaches the workpiece, the suction cup 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 the contact detector (on the frame) and commands the blow-off valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0025] Parameter values of this embodiment: form of the suction cup: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); 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 sustained blast (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 sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away. [0027] 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 [0028] 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 US-10549431-B2, US-11427405-B1, US-2016214812-A1, US-2022339798-A1, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0029] This publication supersedes OT-2026-000004497, 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: per-zone measurement without zones changed to the supply line; suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. OPENTECHNICAL PUBLICATION OT-2026-000008818 Single cup vacuum gripper, two stage ejector, supply line pressure sensor, sustained blow-off after set-down Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008818 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A suction-cup vacuum gripping tool comprising one mounting flange, one suction cup, one ejector, one pressure sensor, one contact detector and one blow-off valve. When the suction cup reaches the workpiece, the suction cup 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 suction-cup vacuum gripping tool: one suction cup carried on a mounting flange, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact and clearing the face at release. 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 suction cup. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the flat form. [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] 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. [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 sustained blast. The blow-off pulse is given after set-down. [0008] The suction cup 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 suction cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line. [0011] The pressure sensor is tapped into the line between the ejector and the suction cup and reads the pressure of the whole circuit. [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 pressure sensor and the contact detector report 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 suction cup reaches the workpiece, the suction cup 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 the contact detector (on the frame) and commands the blow-off valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0025] Parameter values of this embodiment: form of the suction cup: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); 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 sustained blast (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 sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away. [0027] 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 [0028] 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 US-10549431-B2, US-11427405-B1, US-2016214812-A1, US-2022339798-A1, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0029] This publication supersedes OT-2026-000004497, 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: per-zone measurement without zones changed to the supply line; suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008818 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008818 { "abstract": "A suction-cup vacuum gripping tool comprising one mounting flange, one suction cup, one ejector, one pressure sensor, one contact detector and one blow-off valve. When the suction cup reaches the workpiece, the suction cup 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-2026-000008818", "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/vacuum-generation" ], "extent": { "figures": 0, "paragraphs": 29, "words": 1003 }, "figures": [], "files": [ { "bytes": 17928, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "5220d35b93827501aed375df21e2a22062a58d53714ac43cdf3144d343534005" }, { "bytes": 7472, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "43a83a11b50ca609eb563badd94a007dbaca2f0eadcc0223961f8ba1d391d644" }, { "bytes": 7176, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "3f34999dd066847b30123289e3372b7b210e4a0d53bb01b30ef4a07bf1bd780d" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000008818/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "discrete suction cup tool", "mounting flange", "suction cup", "ejector", "pressure sensor", "contact detector", "blow-off valve", "blow off release", "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-2026-000008818", "published_at": "2026-09-17T08:10:55.823363Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000004497", "title": "Single cup vacuum gripper, two stage ejector, supply line pressure sensor, sustained blow-off after set-down", "uuid": "01a0ae6b-31b6-7ebd-bef1-36b96191a6e2" } n8aTAhs/w8+SKn6t/5GLqXlojMfdRV98NgPRCOnnZWwlrE0AN4+f+erlVcOuVSOkQcIq6sn7WBbIe0c3KK0RCA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: n8aTAhs/w8+SKn6t/5GLqXlojMfdRV98NgPRCOnnZWwlrE0AN4+f+erlVcOuVSOkQcIq6sn7WBbIe0c3KK0RCA== {"files":[{"bytes":18986,"name":"index.html","sha256":"09fcf9c56cb79928744e3ba93378e4e7909ca866eb1282d870dade00e409994c"},{"bytes":8430,"name":"publication.md","sha256":"1d9777a5a6c63c2657f2e65a3e906e3e38ce78a94798ebf04440637e42bcb352"},{"bytes":8119,"name":"publication.txt","sha256":"b37239021857e6181ba53eb4ebc78ee2fa9d494d726434d59b28470a7102097f"},{"bytes":2835,"name":"manifest.json","sha256":"d3f57b26e0b16baaa981c4cd59a6d354ef232992693ebeea90a7c498c68d6207"},{"bytes":89,"name":"manifest.sig","sha256":"4a6b705419e5fe71caf70fe6a060133eed204556906794723268ef73daf1d649"},{"bytes":227,"name":"manifest.sig.txt","sha256":"e31cde0be1a573c9b685748de9d5251f2df036dad65a6dd663136cc48e7499ad"}],"publication_id":"OT-2026-000008819"} Foam pad vacuum gripper, three zone face, pump fed, supply line pressure sensor, sustained blow-off before set-down, on a tool changer - OpenTechnical OT-2026-000008819

This publication supersedes OT-2026-000004498. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008819

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

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008819
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Tool Changers
Document SHA-256: b37239021857e6181ba53eb4ebc78ee2fa9d494d726434d59b28470a7102097f

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. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off 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, 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.

[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.

[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]

Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface.

[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 sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[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 blow-off is a sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away.

[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 a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool.

[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-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-2026-000004498, 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: sensor placement moved from an absent manifold to the supply line.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008819, “Foam pad vacuum gripper, three zone face, pump fed, supply line pressure sensor, sustained blow-off before set-down, on a tool changer,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008819.

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

Terms

--- publication_id: "OT-2026-000008819" title: "Foam pad vacuum gripper, three zone face, pump fed, supply line pressure sensor, sustained blow-off before set-down, on a tool changer" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008819" 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" - "drop release" --- # Foam pad vacuum gripper, three zone face, pump fed, supply line pressure sensor, sustained blow-off 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, one pressure sensor and one blow-off 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 workpiece is blown off by the blow-off 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, 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 sustained blast. The blow-off pulse is given 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] 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. - Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. - 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 sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [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 blow-off is a sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away. [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 a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. [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-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-2026-000004498, 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: sensor placement moved from an absent manifold to the supply line. OPENTECHNICAL PUBLICATION OT-2026-000008819 Foam pad vacuum gripper, three zone face, pump fed, supply line pressure sensor, sustained blow-off before set-down, on a tool changer Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008819 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. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off 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, 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 sustained blast. The blow-off pulse is given 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] 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] - Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. [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 sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [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 blow-off is a sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away. [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 a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. [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-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-2026-000004498, 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: sensor placement moved from an absent manifold to the supply line. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008819 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008819 { "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. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. 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This publication supersedes OT-2026-000004499. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008820

Three bellows cup vacuum gripper, three zone face, common isolation valve, two stage ejector, supply line pressure sensor, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008820
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Tool Changers
Document SHA-256: cc5d65fe5e1001f6c99fff16ea9d02e9ee15defc53c01ffd4b0d0ed119556df4

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, three bellows cups, one ejector, one isolation valve, three zone branches, one pressure sensor and one vent valve. When the bellows cups reach the workpiece, the bellows cups are 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: three bellows cups carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, cutting part of the circuit while the rest holds vacuum, verifying that the workpiece is held before the arm moves, controlling the moment of release, taking up height differences at the face 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]Three bellows cups. Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. The count of three follows from the arrangement: one gripping element per zone branch. Each bellows cup has three folds.

[0005]One isolation valve. The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common.

[0007]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 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 bellows cups are 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 isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply.

[0012]The three zone branches are taken from a branch junction on the isolation valve outlet, so that each branch carries the vacuum of its own zone only.

[0013]Each bellows cup is connected to its own zone line, one bellows cup per zone, and is evacuated through that line.

[0014]The pressure sensor is tapped into the line between the ejector and the distribution and reads the pressure of the whole circuit.

[0015]The vent valve is connected to the circuit at the line downstream of the isolation valve 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 isolation valve, the vent 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

[0020]

When the bellows cups reach the workpiece, the bellows cups are evacuated by the ejector.

[0021]

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

[0022]

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

[0023]

After the vacuum level has exceeded the gripping threshold, the isolation valve is closed by the cell controller.

[0024]

While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face.

[0025]

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.

[0026]

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

[0027]The cell controller reads the pressure sensor (the common supply line) and commands the isolation valve, the tool-change interface, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0028]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); folds of the bellows cups: three (sets the travel taken up between the face and the workpiece, and the lateral stiffness of the cup under load); material of the bellows cups: plastic (sets the friction at the lip and the resistance of the folds to fatigue); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; 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: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

[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 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.

[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-4489564-B1, US-10163334-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

[0033]This publication supersedes OT-2026-000004499, 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: sensor placement moved from an absent manifold to the supply line.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008820, “Three bellows cup vacuum gripper, three zone face, common isolation valve, two stage ejector, supply line pressure sensor, vented before set-down, on a tool changer,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008820.

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

Terms

--- publication_id: "OT-2026-000008820" title: "Three bellows cup vacuum gripper, three zone face, common isolation valve, two stage ejector, supply line pressure sensor, vented before set-down, on a tool changer" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008820" 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" - "bellows cup" - "ejector" - "isolation valve" - "zone branch" - "pressure sensor" - "vent valve" - "common isolation" - "compressed air supply" --- # Three bellows cup vacuum gripper, three zone face, common isolation valve, two stage ejector, supply line pressure sensor, vented before set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, three bellows cups, one ejector, one isolation valve, three zone branches, one pressure sensor and one vent valve. When the bellows cups reach the workpiece, the bellows cups are 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: three bellows cups carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, cutting part of the circuit while the rest holds vacuum, verifying that the workpiece is held before the arm moves, controlling the moment of release, taking up height differences at the face 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] **Three bellows cups.** Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. The count of three follows from the arrangement: one gripping element per zone branch. Each bellows cup has three folds. [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] **One isolation valve.** The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] **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. [0007] **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 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 bellows cups are 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 isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0012] The three zone branches are taken from a branch junction on the isolation valve outlet, so that each branch carries the vacuum of its own zone only. [0013] Each bellows cup is connected to its own zone line, one bellows cup per zone, and is evacuated through that line. [0014] The pressure sensor is tapped into the line between the ejector and the distribution and reads the pressure of the whole circuit. [0015] The vent valve is connected to the circuit at the line downstream of the isolation valve 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 isolation valve, the vent 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 bellows cups reach the workpiece, the bellows cups are 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 vacuum level has exceeded the gripping threshold, the isolation valve is closed by the cell controller. - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. - 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. [0027] The cell controller reads the pressure sensor (the common supply line) and commands the isolation valve, the tool-change interface, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0028] 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); folds of the bellows cups: three (sets the travel taken up between the face and the workpiece, and the lateral stiffness of the cup under load); material of the bellows cups: plastic (sets the friction at the lip and the resistance of the folds to fatigue); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; 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: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [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 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. [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-4489564-B1, US-10163334-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 [0033] This publication supersedes OT-2026-000004499, 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: sensor placement moved from an absent manifold to the supply line. OPENTECHNICAL PUBLICATION OT-2026-000008820 Three bellows cup vacuum gripper, three zone face, common isolation valve, two stage ejector, supply line pressure sensor, vented before set-down, on a tool changer Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008820 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, three bellows cups, one ejector, one isolation valve, three zone branches, one pressure sensor and one vent valve. When the bellows cups reach the workpiece, the bellows cups are 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: three bellows cups carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, cutting part of the circuit while the rest holds vacuum, verifying that the workpiece is held before the arm moves, controlling the moment of release, taking up height differences at the face 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] Three bellows cups. Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. The count of three follows from the arrangement: one gripping element per zone branch. Each bellows cup has three folds. [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] One isolation valve. The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] 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. [0007] 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 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 bellows cups are 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 isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0012] The three zone branches are taken from a branch junction on the isolation valve outlet, so that each branch carries the vacuum of its own zone only. [0013] Each bellows cup is connected to its own zone line, one bellows cup per zone, and is evacuated through that line. [0014] The pressure sensor is tapped into the line between the ejector and the distribution and reads the pressure of the whole circuit. [0015] The vent valve is connected to the circuit at the line downstream of the isolation valve 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 isolation valve, the vent 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 [0020] - When the bellows cups reach the workpiece, the bellows cups are evacuated by the ejector. [0021] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0022] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0023] - After the vacuum level has exceeded the gripping threshold, the isolation valve is closed by the cell controller. [0024] - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. [0025] - 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. [0026] - The workpiece is held until the vent valve has opened the circuit. [0027] The cell controller reads the pressure sensor (the common supply line) and commands the isolation valve, the tool-change interface, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0028] 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); folds of the bellows cups: three (sets the travel taken up between the face and the workpiece, and the lateral stiffness of the cup under load); material of the bellows cups: plastic (sets the friction at the lip and the resistance of the folds to fatigue); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; 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: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [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 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. [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-4489564-B1, US-10163334-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 [0033] This publication supersedes OT-2026-000004499, 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: sensor placement moved from an absent manifold to the supply line. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008820 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008820 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, three bellows cups, one ejector, one isolation valve, three zone branches, one pressure sensor and one vent valve. When the bellows cups reach the workpiece, the bellows cups are 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. 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This publication supersedes OT-2026-000004500. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008821

Six pad foam vacuum gripper, six outlet manifold, pump fed, manifold pressure sensor, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008821
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Tool Changers
Document SHA-256: 8cb3a2baed44da52d9bca76354233fd92bef2e2e7169bcce53a0d2b36a364207

Abstract

A foam-pad vacuum gripping tool comprising one tool-change interface, six foam pads, one vacuum pump, one manifold, one pressure sensor and one vent valve. When the foam pads reach the workpiece, the foam pads are 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 foam-pad vacuum gripping tool: six foam pads carried on a tool-change interface, fed by a vacuum pump. It is arranged for 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]Six foam pads. Each 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 count of six follows from the arrangement: one gripping element per manifold outlet. 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]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets.

[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 at the manifold.

[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 pads are carried on the tool side of the tool-change interface.

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

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

[0011]The manifold inlet is connected to the pump inlet line, which supplies every outlet of the manifold.

[0012]Each manifold outlet feeds one foam pad by its own vacuum line, so that the six outlets feed six foam pads.

[0013]The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet.

[0014]The vent valve is connected to the circuit at the pump inlet line and opens that circuit to atmosphere when it is actuated.

[0015]The robot side of the tool-change interface is bolted to the robot flange.

[0016]The pump motor is supplied from the electrical supply of the cell.

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

3. Operating sequence and conditions

[0018]

When the foam pads reach the workpiece, the foam pads are 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]

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 (the manifold) and commands 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: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: 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); outlets of the manifold: six (sets how many lines can be fed from one inlet); placement of the pressure sensor: at the manifold (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).

[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-8006968-B2, WO-2008134339-A4; 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-2026-000004500, 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: foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008821, “Six pad foam vacuum gripper, six outlet manifold, pump fed, manifold pressure sensor, vented before set-down, on a tool changer,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008821.

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

Terms

--- publication_id: "OT-2026-000008821" title: "Six pad foam vacuum gripper, six outlet manifold, pump fed, manifold pressure sensor, vented before set-down, on a tool changer" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008821" 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: - "foam area gripping tool" - "tool-change interface" - "foam pad" - "vacuum pump" - "manifold" - "pressure sensor" - "vent valve" - "drop release" - "electric actuation" - "pressure sensing" --- # Six pad foam vacuum gripper, six outlet manifold, pump fed, manifold pressure sensor, vented before set-down, on a tool changer ## Abstract A foam-pad vacuum gripping tool comprising one tool-change interface, six foam pads, one vacuum pump, one manifold, one pressure sensor and one vent valve. When the foam pads reach the workpiece, the foam pads are 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 foam-pad vacuum gripping tool: six foam pads carried on a tool-change interface, fed by a vacuum pump. It is arranged for 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] **Six foam pads.** Each 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 count of six follows from the arrangement: one gripping element per manifold outlet. 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] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [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 at the manifold. [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 pads are carried on the tool side of the tool-change interface. [0009] The manifold is fixed to the tool side of the tool-change interface. [0010] The vacuum pump is fixed to the tool side of the tool-change interface. [0011] The manifold inlet is connected to the pump inlet line, which supplies every outlet of the manifold. [0012] Each manifold outlet feeds one foam pad by its own vacuum line, so that the six outlets feed six foam pads. [0013] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0014] The vent valve is connected to the circuit at the pump inlet line and opens that circuit to atmosphere when it is actuated. [0015] The robot side of the tool-change interface is bolted to the robot flange. [0016] The pump motor is supplied from the electrical supply of the cell. [0017] 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 pads reach the workpiece, the foam pads are 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. [0023] The cell controller reads the pressure sensor (the manifold) and commands 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: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: 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); outlets of the manifold: six (sets how many lines can be fed from one inlet); placement of the pressure sensor: at the manifold (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] 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, US-8006968-B2, WO-2008134339-A4; 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-2026-000004500, 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: foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. OPENTECHNICAL PUBLICATION OT-2026-000008821 Six pad foam vacuum gripper, six outlet manifold, pump fed, manifold pressure sensor, vented before set-down, on a tool changer Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008821 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A foam-pad vacuum gripping tool comprising one tool-change interface, six foam pads, one vacuum pump, one manifold, one pressure sensor and one vent valve. When the foam pads reach the workpiece, the foam pads are 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 foam-pad vacuum gripping tool: six foam pads carried on a tool-change interface, fed by a vacuum pump. It is arranged for 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] Six foam pads. Each 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 count of six follows from the arrangement: one gripping element per manifold outlet. 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] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [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 at the manifold. [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 pads are carried on the tool side of the tool-change interface. [0009] The manifold is fixed to the tool side of the tool-change interface. [0010] The vacuum pump is fixed to the tool side of the tool-change interface. [0011] The manifold inlet is connected to the pump inlet line, which supplies every outlet of the manifold. [0012] Each manifold outlet feeds one foam pad by its own vacuum line, so that the six outlets feed six foam pads. [0013] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0014] The vent valve is connected to the circuit at the pump inlet line and opens that circuit to atmosphere when it is actuated. [0015] The robot side of the tool-change interface is bolted to the robot flange. [0016] The pump motor is supplied from the electrical supply of the cell. [0017] The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller. 3. Operating sequence and conditions [0018] - When the foam pads reach the workpiece, the foam pads are 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] - 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 (the manifold) and commands 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: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: 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); outlets of the manifold: six (sets how many lines can be fed from one inlet); placement of the pressure sensor: at the manifold (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] 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, US-8006968-B2, WO-2008134339-A4; 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-2026-000004500, 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: foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008821 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008821 { "abstract": "A foam-pad vacuum gripping tool comprising one tool-change interface, six foam pads, one vacuum pump, one manifold, one pressure sensor and one vent valve. When the foam pads reach the workpiece, the foam pads are 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-2026-000008821", "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": 1053 }, "figures": [], "files": [ { "bytes": 18265, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "02e905e87cb8b3d0b9a76e177854b1cedeeb32553484755453dc8b0f90213d2a" }, { "bytes": 7762, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "924fc9bb65bb043f47e792c44233453d383ca007a31d8bc8f1149c546babb0fa" }, { "bytes": 7462, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "8cb3a2baed44da52d9bca76354233fd92bef2e2e7169bcce53a0d2b36a364207" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000008821/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "foam area gripping tool", "tool-change interface", "foam pad", "vacuum pump", "manifold", "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-2026-000008821", "published_at": "2026-09-17T08:10:55.823363Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000004500", "title": "Six pad foam vacuum gripper, six outlet manifold, pump fed, manifold pressure sensor, vented before set-down, on a tool changer", "uuid": "01a0ae6b-31b6-74b6-8dc1-69869eb188d5" } AcC0bRGPzMnXEYZYdi3RUzPdMSCj6ODtd1n6FAJkILNghR2nZnaB4G6Su2Ol7J3Fx4PddhSQTBaofTrud0bbAg== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: AcC0bRGPzMnXEYZYdi3RUzPdMSCj6ODtd1n6FAJkILNghR2nZnaB4G6Su2Ol7J3Fx4PddhSQTBaofTrud0bbAg== {"files":[{"bytes":18150,"name":"index.html","sha256":"21dc49360c1f77224ba2dce42aa896f313dc473aa42c7690797a162ebd5fd866"},{"bytes":7736,"name":"publication.md","sha256":"39c034ed694000c8639a0f1bfb4a2c4538aa1ae0ad88c033f0adf55058989095"},{"bytes":7395,"name":"publication.txt","sha256":"cb0e20a372cfb16e3290f4630726c284c8f3f345c021d030df52feb7104939f7"},{"bytes":2899,"name":"manifest.json","sha256":"fe86b4470aaab7226f6ae9e7fbbf71f5a4fd10c69a4a628dbc790498f0fc49de"},{"bytes":89,"name":"manifest.sig","sha256":"b3a799378f4e41a5e0d2c6dd6a83ddc8fb660b398caec49631b6bae706484639"},{"bytes":227,"name":"manifest.sig.txt","sha256":"f750f596f704f705d8281bec16114f588d2d2cc8bc51be1dce1e87231acde8a9"}],"publication_id":"OT-2026-000008822"} Two cup vacuum gripper, two outlet manifold, common isolation valve, plant vacuum fed, sustained blow-off before set-down, on a tool changer - OpenTechnical OT-2026-000008822

This publication supersedes OT-2026-000004501. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008822

Two cup vacuum gripper, two outlet manifold, common isolation valve, plant vacuum fed, sustained blow-off before set-down, on a tool changer

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008822
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Tool Changers, Vacuum Supply
Document SHA-256: cb0e20a372cfb16e3290f4630726c284c8f3f345c021d030df52feb7104939f7

Abstract

A suction-cup vacuum gripping tool comprising one tool-change interface, two suction cups, one plant vacuum connection, one isolation valve, one manifold and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connection. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off 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 suction-cup vacuum gripping tool: two suction cups carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for cutting part of the circuit while the rest holds vacuum, clearing the face at release 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]Two suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of two follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the oval form.

[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]One isolation valve. The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common.

[0006]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets.

[0008]The suction cups are carried on the tool side of the tool-change interface.

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

[0010]The isolation valve is placed in the line from the plant vacuum connection, so that closing the valve cuts the whole circuit from the supply.

[0011]The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold.

[0012]Each manifold outlet feeds one suction cup by its own vacuum line, so that the two outlets feed two suction cups.

[0013]The blow-off valve is connected to the circuit at the line downstream of the isolation valve, 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 blow-off valve is fed from the compressed air supply of the cell.

[0016]The isolation valve and the blow-off valve are switched by the cell controller.

3. Operating sequence and conditions

[0017]

When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connection.

[0018]

After the suction cups have reached the workpiece, the isolation valve is closed by the cell controller.

[0019]

While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face.

[0020]

Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface.

[0021]

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

[0022]The cell controller commands the blow-off valve, the isolation 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); form of the suction cups: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; outlets of the manifold: two (sets how many lines can be fed from one inlet); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[0025]The blow-off is a sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away.

[0026]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

[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 US-10163334-B1, US-10259123-B2, US-11858125-B2, US-2016214812-A1, US-8006968-B2, US-8132312-B2; 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-2026-000004501, 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: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008822, “Two cup vacuum gripper, two outlet manifold, common isolation valve, plant vacuum fed, sustained blow-off before set-down, on a tool changer,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008822.

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

Terms

--- publication_id: "OT-2026-000008822" title: "Two cup vacuum gripper, two outlet manifold, common isolation valve, plant vacuum fed, sustained blow-off before set-down, on a tool changer" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008822" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" - "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply" keywords: - "discrete suction cup tool" - "tool-change interface" - "suction cup" - "plant vacuum connection" - "isolation valve" - "manifold" - "blow-off valve" - "blow off release" - "common isolation" - "compressed air supply" --- # Two cup vacuum gripper, two outlet manifold, common isolation valve, plant vacuum fed, sustained blow-off before set-down, on a tool changer ## Abstract A suction-cup vacuum gripping tool comprising one tool-change interface, two suction cups, one plant vacuum connection, one isolation valve, one manifold and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connection. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off 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 suction-cup vacuum gripping tool: two suction cups carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for cutting part of the circuit while the rest holds vacuum, clearing the face at release 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] **Two suction cups.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of two follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the oval form. [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] **One isolation valve.** The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets. [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 before set-down. [0008] The suction cups are carried on the tool side of the tool-change interface. [0009] The manifold is fixed to the tool side of the tool-change interface. [0010] The isolation valve is placed in the line from the plant vacuum connection, so that closing the valve cuts the whole circuit from the supply. [0011] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0012] Each manifold outlet feeds one suction cup by its own vacuum line, so that the two outlets feed two suction cups. [0013] The blow-off valve is connected to the circuit at the line downstream of the isolation valve, 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 blow-off valve is fed from the compressed air supply of the cell. [0016] The isolation valve and the blow-off valve are switched by the cell controller. ## 3. Operating sequence and conditions - When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connection. - After the suction cups have reached the workpiece, the isolation valve is closed by the cell controller. - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. - Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. - The workpiece is held until the blow-off valve has opened the circuit. [0022] The cell controller commands the blow-off valve, the isolation 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); form of the suction cups: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; outlets of the manifold: two (sets how many lines can be fed from one inlet); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [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 blow-off is a sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away. [0026] 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 [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 US-10163334-B1, US-10259123-B2, US-11858125-B2, US-2016214812-A1, US-8006968-B2, US-8132312-B2; 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-2026-000004501, 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: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. OPENTECHNICAL PUBLICATION OT-2026-000008822 Two cup vacuum gripper, two outlet manifold, common isolation valve, plant vacuum fed, sustained blow-off before set-down, on a tool changer Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008822 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A suction-cup vacuum gripping tool comprising one tool-change interface, two suction cups, one plant vacuum connection, one isolation valve, one manifold and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connection. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off 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 suction-cup vacuum gripping tool: two suction cups carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for cutting part of the circuit while the rest holds vacuum, clearing the face at release 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] Two suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of two follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the oval form. [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] One isolation valve. The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets. [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 before set-down. [0008] The suction cups are carried on the tool side of the tool-change interface. [0009] The manifold is fixed to the tool side of the tool-change interface. [0010] The isolation valve is placed in the line from the plant vacuum connection, so that closing the valve cuts the whole circuit from the supply. [0011] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0012] Each manifold outlet feeds one suction cup by its own vacuum line, so that the two outlets feed two suction cups. [0013] The blow-off valve is connected to the circuit at the line downstream of the isolation valve, 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 blow-off valve is fed from the compressed air supply of the cell. [0016] The isolation valve and the blow-off valve are switched by the cell controller. 3. Operating sequence and conditions [0017] - When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connection. [0018] - After the suction cups have reached the workpiece, the isolation valve is closed by the cell controller. [0019] - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. [0020] - Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. [0021] - The workpiece is held until the blow-off valve has opened the circuit. [0022] The cell controller commands the blow-off valve, the isolation 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); form of the suction cups: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; outlets of the manifold: two (sets how many lines can be fed from one inlet); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [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 blow-off is a sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away. [0026] 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 [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 US-10163334-B1, US-10259123-B2, US-11858125-B2, US-2016214812-A1, US-8006968-B2, US-8132312-B2; 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-2026-000004501, 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: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008822 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008822 { "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, two suction cups, one plant vacuum connection, one isolation valve, one manifold and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connection. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off 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-2026-000008822", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "robotics-automation/end-effectors/tool-changers", "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply" ], "extent": { "figures": 0, "paragraphs": 28, "words": 1027 }, "figures": [], "files": [ { "bytes": 18150, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "21dc49360c1f77224ba2dce42aa896f313dc473aa42c7690797a162ebd5fd866" }, { "bytes": 7736, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "39c034ed694000c8639a0f1bfb4a2c4538aa1ae0ad88c033f0adf55058989095" }, { "bytes": 7395, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "cb0e20a372cfb16e3290f4630726c284c8f3f345c021d030df52feb7104939f7" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000008822/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "discrete suction cup tool", "tool-change interface", "suction cup", "plant vacuum connection", "isolation valve", "manifold", "blow-off valve", "blow off release", "common isolation", "compressed air supply" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000008822", "published_at": "2026-09-17T08:10:55.823363Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000004501", "title": "Two cup vacuum gripper, two outlet manifold, common isolation valve, plant vacuum fed, sustained blow-off before set-down, on a tool changer", "uuid": "01a0ae6b-31b6-7ebc-9016-d7aa7bb0bf36" } eIvRa3L6uZrYyGFqv39exm0j0L+2cdLoJdSRCbukUm0t01M2+SG3xFpIXeAefm/sw3S4cOOE5H2KRvAiDmerAg== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: eIvRa3L6uZrYyGFqv39exm0j0L+2cdLoJdSRCbukUm0t01M2+SG3xFpIXeAefm/sw3S4cOOE5H2KRvAiDmerAg== {"files":[{"bytes":20110,"name":"index.html","sha256":"26124dc4ca63db5f08817d9b6dc6e9d545d81bebbfd091bf9ad7a22b2ce03102"},{"bytes":9253,"name":"publication.md","sha256":"6802f6b9f8cd2eb643a5716dc75e925510af5abcd8096f8ff0c0ef285f7a6283"},{"bytes":8931,"name":"publication.txt","sha256":"39cef76971c17210009e905722a790cf6a5e336708a6d49cd009bfe27d7e7836"},{"bytes":2906,"name":"manifest.json","sha256":"69bcd3d9ab97c490ee7ddc56ec0a6e28d13afad6a0755c44a8120772174c088a"},{"bytes":89,"name":"manifest.sig","sha256":"386b219aba22c4fef9d28d0d2b678fe1f676f32497dd891da14dff71be4dd449"},{"bytes":227,"name":"manifest.sig.txt","sha256":"f221804c7cba4a8dad77740de847b6e9518ad1023e8d23ba6a7346784c26981f"}],"publication_id":"OT-2026-000008823"} Single cup vacuum gripper, common isolation valve, pump fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer - OpenTechnical OT-2026-000008823

This publication supersedes OT-2026-000004502. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008823

Single cup vacuum gripper, common isolation valve, pump fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008823
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Valves and Manifolds
Document SHA-256: 39cef76971c17210009e905722a790cf6a5e336708a6d49cd009bfe27d7e7836

Abstract

A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one vacuum pump, one isolation valve, one pressure sensor, one contact detector and one blow-off valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off 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 suction-cup vacuum gripping tool: one suction cup carried on a tool-change interface, fed by a vacuum pump. It is arranged for cutting part of the circuit while the rest holds vacuum, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, clearing the face at release 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 suction cup. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the flat form.

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

[0005]One isolation valve. The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common.

[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 gripping face.

[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 before set-down.

[0009]The suction cup is carried on the tool side of the tool-change interface.

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

[0011]The isolation valve is placed in the line from the vacuum pump, so that closing the valve cuts the whole circuit from the supply.

[0012]The suction cup is connected to the isolation valve outlet by a single vacuum line, so that the face is evacuated through that line.

[0013]The pressure sensor is tapped into the line between the vacuum pump and the suction cup and reads the pressure of the whole circuit.

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

[0015]The blow-off valve is connected to the circuit at the line downstream of the isolation valve, 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 pump motor is supplied from the electrical supply of the cell.

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

[0019]The isolation valve and the blow-off valve are 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 suction cup reaches the workpiece, the suction cup is evacuated by the vacuum pump.

[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 vacuum level has exceeded the gripping threshold, the isolation valve is closed by the cell controller.

[0025]

While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face.

[0026]

Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface.

[0027]

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

[0028]The cell controller reads the pressure sensor (the common supply line) and the contact detector (on the gripping face) and commands the blow-off valve, the isolation valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0029]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); form of the suction cup: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; 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 gripping face (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: before set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[0030]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.

[0031]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.

[0032]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.

[0033]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

[0034]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 US-10163334-B1, US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8132312-B2; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0035]This publication supersedes OT-2026-000004502, 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: sensor placement moved from an absent manifold to the supply line; suction_cup material 'silicone' is not offered by the library; the source-stated value 'polyurethane' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008823, “Single cup vacuum gripper, common isolation valve, pump fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008823.

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

Terms

--- publication_id: "OT-2026-000008823" title: "Single cup vacuum gripper, common isolation valve, pump fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008823" 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: - "discrete suction cup tool" - "tool-change interface" - "suction cup" - "vacuum pump" - "isolation valve" - "pressure sensor" - "contact detector" - "blow-off valve" - "blow off release" - "common isolation" --- # Single cup vacuum gripper, common isolation valve, pump fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer ## Abstract A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one vacuum pump, one isolation valve, one pressure sensor, one contact detector and one blow-off valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off 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 suction-cup vacuum gripping tool: one suction cup carried on a tool-change interface, fed by a vacuum pump. It is arranged for cutting part of the circuit while the rest holds vacuum, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, clearing the face at release 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 suction cup.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the flat form. [0004] **One vacuum pump.** The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] **One isolation valve.** The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [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 gripping face. [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 before set-down. [0009] The suction cup is carried on the tool side of the tool-change interface. [0010] The vacuum pump is fixed to the tool side of the tool-change interface. [0011] The isolation valve is placed in the line from the vacuum pump, so that closing the valve cuts the whole circuit from the supply. [0012] The suction cup is connected to the isolation valve outlet by a single vacuum line, so that the face is evacuated through that line. [0013] The pressure sensor is tapped into the line between the vacuum pump and the suction cup and reads the pressure of the whole circuit. [0014] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0015] The blow-off valve is connected to the circuit at the line downstream of the isolation valve, 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 pump motor is supplied from the electrical supply of the cell. [0018] The blow-off valve is fed from the compressed air supply of the cell. [0019] The isolation valve and the blow-off valve are 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 suction cup reaches the workpiece, the suction cup 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 vacuum level has exceeded the gripping threshold, the isolation valve is closed by the cell controller. - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. - Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. - The workpiece is held until the blow-off valve has opened the circuit. [0028] The cell controller reads the pressure sensor (the common supply line) and the contact detector (on the gripping face) and commands the blow-off valve, the isolation valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0029] 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); form of the suction cup: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; 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 gripping face (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: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0030] 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. [0031] 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. [0032] 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. [0033] 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 [0034] 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 US-10163334-B1, US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8132312-B2; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0035] This publication supersedes OT-2026-000004502, 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: sensor placement moved from an absent manifold to the supply line; suction_cup material 'silicone' is not offered by the library; the source-stated value 'polyurethane' is used. OPENTECHNICAL PUBLICATION OT-2026-000008823 Single cup vacuum gripper, common isolation valve, pump fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008823 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one vacuum pump, one isolation valve, one pressure sensor, one contact detector and one blow-off valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off 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 suction-cup vacuum gripping tool: one suction cup carried on a tool-change interface, fed by a vacuum pump. It is arranged for cutting part of the circuit while the rest holds vacuum, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, clearing the face at release 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 suction cup. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the flat form. [0004] One vacuum pump. The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] One isolation valve. The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [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 gripping face. [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 before set-down. [0009] The suction cup is carried on the tool side of the tool-change interface. [0010] The vacuum pump is fixed to the tool side of the tool-change interface. [0011] The isolation valve is placed in the line from the vacuum pump, so that closing the valve cuts the whole circuit from the supply. [0012] The suction cup is connected to the isolation valve outlet by a single vacuum line, so that the face is evacuated through that line. [0013] The pressure sensor is tapped into the line between the vacuum pump and the suction cup and reads the pressure of the whole circuit. [0014] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0015] The blow-off valve is connected to the circuit at the line downstream of the isolation valve, 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 pump motor is supplied from the electrical supply of the cell. [0018] The blow-off valve is fed from the compressed air supply of the cell. [0019] The isolation valve and the blow-off valve are 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 suction cup reaches the workpiece, the suction cup is evacuated by the vacuum pump. [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 vacuum level has exceeded the gripping threshold, the isolation valve is closed by the cell controller. [0025] - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. [0026] - Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. [0027] - The workpiece is held until the blow-off valve has opened the circuit. [0028] The cell controller reads the pressure sensor (the common supply line) and the contact detector (on the gripping face) and commands the blow-off valve, the isolation valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0029] 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); form of the suction cup: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; 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 gripping face (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: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0030] 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. [0031] 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. [0032] 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. [0033] 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 [0034] 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 US-10163334-B1, US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8132312-B2; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0035] This publication supersedes OT-2026-000004502, 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: sensor placement moved from an absent manifold to the supply line; suction_cup material 'silicone' is not offered by the library; the source-stated value 'polyurethane' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008823 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008823 { "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one vacuum pump, one isolation valve, one pressure sensor, one contact detector and one blow-off valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off 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-2026-000008823", "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": 35, "words": 1282 }, "figures": [], "files": [ { "bytes": 20110, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "26124dc4ca63db5f08817d9b6dc6e9d545d81bebbfd091bf9ad7a22b2ce03102" }, { "bytes": 9253, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "6802f6b9f8cd2eb643a5716dc75e925510af5abcd8096f8ff0c0ef285f7a6283" }, { "bytes": 8931, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "39cef76971c17210009e905722a790cf6a5e336708a6d49cd009bfe27d7e7836" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000008823/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "discrete suction cup tool", "tool-change interface", "suction cup", "vacuum pump", "isolation valve", "pressure sensor", "contact detector", "blow-off valve", "blow off release", "common isolation" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000008823", "published_at": "2026-09-17T08:10:55.823363Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000004502", "title": "Single cup vacuum gripper, common isolation valve, pump fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer", "uuid": "01a0ae6b-31b6-7339-8a7b-e184163ad07f" } CLWNe9BmMsr5mVGW/TbzHhbOu8//EIisjSB7/skrMlr0dPEsY/CCpnR22UjGhJyeVmiLC79Ke/pEBw72gmoeBA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: CLWNe9BmMsr5mVGW/TbzHhbOu8//EIisjSB7/skrMlr0dPEsY/CCpnR22UjGhJyeVmiLC79Ke/pEBw72gmoeBA== {"files":[{"bytes":19372,"name":"index.html","sha256":"a6bda7b6ef4e58e1170aee2b77107a3a3e6fcffbcb7a9011bf2a45bbc4ab91bd"},{"bytes":8622,"name":"publication.md","sha256":"21309a7e973d47a066be1b163a84d8dc37acec274c23aa6ebf2cc18533d383ef"},{"bytes":8289,"name":"publication.txt","sha256":"73aebe2e008bcd9543ac15e4a9ce8d8de3148f988abec58f83a2e3faa4373da0"},{"bytes":2838,"name":"manifest.json","sha256":"100cbc2d66253adaf5d001dedf4f926851b8a608b68385b96090dea5f72fbfd6"},{"bytes":89,"name":"manifest.sig","sha256":"ed63027fcd7e12cfb5f64930e044fb061783e90ab3f737d92cfb0bdf92d6f8a1"},{"bytes":227,"name":"manifest.sig.txt","sha256":"77c52e32f10fbccecc8e6cb0f7da3f5fc11ff1a6d46a2c8e3fd5857e60c61687"}],"publication_id":"OT-2026-000008824"} Two cup vacuum gripper, two outlet manifold, two stage ejector, manifold pressure sensor, pulsed blow-off after set-down, on a tool changer - OpenTechnical OT-2026-000008824

This publication supersedes OT-2026-000004503. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008824

Two cup vacuum gripper, two outlet manifold, two stage ejector, manifold pressure sensor, pulsed blow-off after set-down, on a tool changer

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008824
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Valves and Manifolds
Document SHA-256: 73aebe2e008bcd9543ac15e4a9ce8d8de3148f988abec58f83a2e3faa4373da0

Abstract

A suction-cup vacuum gripping tool comprising one tool-change interface, two suction cups, one ejector, one manifold, one pressure sensor, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are 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 suction-cup vacuum gripping tool: two suction cups carried on a tool-change interface, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, clearing the face at release 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

[0005]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets.

[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 at the manifold.

[0009]The suction cups are carried on the tool side of the tool-change interface.

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

[0011]The ejector is fixed to the tool side of the tool-change interface.

[0012]The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold.

[0013]Each manifold outlet feeds one suction cup by its own vacuum line, so that the two outlets feed two suction cups.

[0014]The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet.

[0015]The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face.

[0016]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.

[0017]The robot side of the tool-change interface is bolted to the robot flange.

[0018]The ejector is fed from the compressed air supply of the cell.

[0019]The blow-off valve is fed from the compressed air supply of the cell.

[0020]The locking piston of the tool-change interface is fed from the compressed air supply of the cell.

[0021]The blow-off valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensor and the contact detector report to the cell controller.

3. Operating sequence and conditions

[0022]

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

[0023]

When the suction cups reach the workpiece, the suction cups are evacuated by the ejector.

[0024]

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

[0025]

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

[0026]

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

[0027]

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

[0028]The cell controller reads the pressure sensor (the manifold) and the contact detector (on the gripping face) and commands the blow-off valve, the tool-change interface; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0029]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); form of the suction cups: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: two (sets how many lines can be fed from one inlet); placement of the pressure sensor: at the manifold (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); 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).

[0030]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.

[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 US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, US-8132312-B2, WO-2008134339-A4; 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-2026-000004503, 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: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008824, “Two cup vacuum gripper, two outlet manifold, two stage ejector, manifold pressure sensor, pulsed blow-off after set-down, on a tool changer,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008824.

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

Terms

--- publication_id: "OT-2026-000008824" title: "Two cup vacuum gripper, two outlet manifold, two stage ejector, manifold pressure sensor, pulsed blow-off after set-down, on a tool changer" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008824" 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: - "discrete suction cup tool" - "tool-change interface" - "suction cup" - "ejector" - "manifold" - "pressure sensor" - "contact detector" - "blow-off valve" - "blow off release" - "compressed air supply" --- # Two cup vacuum gripper, two outlet manifold, two stage ejector, manifold pressure sensor, pulsed blow-off after set-down, on a tool changer ## Abstract A suction-cup vacuum gripping tool comprising one tool-change interface, two suction cups, one ejector, one manifold, one pressure sensor, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are 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 suction-cup vacuum gripping tool: two suction cups carried on a tool-change interface, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, clearing the face at release 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] **Two suction cups.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of two follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the flat form. [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] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets. [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 at the manifold. [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 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 suction cups are carried on the tool side of the tool-change interface. [0010] The manifold is fixed to the tool side of the tool-change interface. [0011] The ejector is fixed to the tool side of the tool-change interface. [0012] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0013] Each manifold outlet feeds one suction cup by its own vacuum line, so that the two outlets feed two suction cups. [0014] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0015] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0016] 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. [0017] The robot side of the tool-change interface is bolted to the robot flange. [0018] The ejector is fed from the compressed air supply of the cell. [0019] The blow-off valve is fed from the compressed air supply of the cell. [0020] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0021] The blow-off valve and the lock of the tool-change interface are 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 suction cups reach the workpiece, the suction cups are 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. [0028] The cell controller reads the pressure sensor (the manifold) and the contact detector (on the gripping face) and commands the blow-off valve, the tool-change interface; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0029] 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); form of the suction cups: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: two (sets how many lines can be fed from one inlet); placement of the pressure sensor: at the manifold (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); 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). [0030] 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. [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 US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, US-8132312-B2, WO-2008134339-A4; 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-2026-000004503, 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: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. OPENTECHNICAL PUBLICATION OT-2026-000008824 Two cup vacuum gripper, two outlet manifold, two stage ejector, manifold pressure sensor, pulsed blow-off after set-down, on a tool changer Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008824 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A suction-cup vacuum gripping tool comprising one tool-change interface, two suction cups, one ejector, one manifold, one pressure sensor, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are 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 suction-cup vacuum gripping tool: two suction cups carried on a tool-change interface, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, clearing the face at release 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] Two suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of two follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the flat form. [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] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets. [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 at the manifold. [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 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 suction cups are carried on the tool side of the tool-change interface. [0010] The manifold is fixed to the tool side of the tool-change interface. [0011] The ejector is fixed to the tool side of the tool-change interface. [0012] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0013] Each manifold outlet feeds one suction cup by its own vacuum line, so that the two outlets feed two suction cups. [0014] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0015] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0016] 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. [0017] The robot side of the tool-change interface is bolted to the robot flange. [0018] The ejector is fed from the compressed air supply of the cell. [0019] The blow-off valve is fed from the compressed air supply of the cell. [0020] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0021] The blow-off valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensor and the contact detector report to the cell controller. 3. Operating sequence and conditions [0022] - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. [0023] - When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. [0024] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0025] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0026] - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. [0027] - The workpiece is held until the blow-off valve has opened the circuit. [0028] The cell controller reads the pressure sensor (the manifold) and the contact detector (on the gripping face) and commands the blow-off valve, the tool-change interface; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0029] 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); form of the suction cups: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: two (sets how many lines can be fed from one inlet); placement of the pressure sensor: at the manifold (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); 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). [0030] 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. [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 US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, US-8132312-B2, WO-2008134339-A4; 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-2026-000004503, 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: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008824 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008824 { "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, two suction cups, one ejector, one manifold, one pressure sensor, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are 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-2026-000008824", "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": 1172 }, "figures": [], "files": [ { "bytes": 19372, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "a6bda7b6ef4e58e1170aee2b77107a3a3e6fcffbcb7a9011bf2a45bbc4ab91bd" }, { "bytes": 8622, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "21309a7e973d47a066be1b163a84d8dc37acec274c23aa6ebf2cc18533d383ef" }, { "bytes": 8289, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "73aebe2e008bcd9543ac15e4a9ce8d8de3148f988abec58f83a2e3faa4373da0" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000008824/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "discrete suction cup tool", "tool-change interface", "suction cup", "ejector", "manifold", "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-2026-000008824", "published_at": "2026-09-17T08:10:55.823363Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000004503", "title": "Two cup vacuum gripper, two outlet manifold, two stage ejector, manifold pressure sensor, pulsed blow-off after set-down, on a tool changer", "uuid": "01a0ae6b-31b6-738d-b457-8e4771e620ef" } WLxoLrlwzzUF0iywhUitBnSIvOPXmTXFYAePDmMvhEA1iiH7nimAgbttiQIZep2vmaI+e+M/tpSu38DvKemOAA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: WLxoLrlwzzUF0iywhUitBnSIvOPXmTXFYAePDmMvhEA1iiH7nimAgbttiQIZep2vmaI+e+M/tpSu38DvKemOAA== {"files":[{"bytes":18392,"name":"index.html","sha256":"a22fe0f05d40d95d6ec5594d005a48be4f3d50f984c46b7dbdeb6ece80012889"},{"bytes":7789,"name":"publication.md","sha256":"67e8504eb5c167e90be2128dbd081e701583271db77397ce3db0cac6f57d8812"},{"bytes":7490,"name":"publication.txt","sha256":"931c6d5d899b71f6c2c8cd5b68d66b069f5a14d4c3ed1b5df216e9f5185c7d5b"},{"bytes":2798,"name":"manifest.json","sha256":"4038537ce7e4445db76dad2e44b5eda9f0c37373834cc2b9b720c9ebce6272e6"},{"bytes":89,"name":"manifest.sig","sha256":"c8ceda1487fcef08d776ca9fb8e792724eb9f51ecbc879f8c2500520b406fe7d"},{"bytes":227,"name":"manifest.sig.txt","sha256":"1ca808626a449a2590d5c9666d1dfa2ad1905b70fc28ac6c0f1290124d0bc84b"}],"publication_id":"OT-2026-000008825"} Six cup vacuum gripper, six outlet manifold, common isolation valve, three stage ejector, sustained blow-off after set-down - OpenTechnical OT-2026-000008825

This publication supersedes OT-2026-000004504. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008825

Six cup vacuum gripper, six outlet manifold, common isolation valve, three stage ejector, sustained blow-off after set-down

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008825
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Valves and Manifolds, Vacuum Generation
Document SHA-256: 931c6d5d899b71f6c2c8cd5b68d66b069f5a14d4c3ed1b5df216e9f5185c7d5b

Abstract

A suction-cup vacuum gripping tool comprising one mounting flange, six suction cups, one ejector, one isolation valve, one manifold, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are 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 suction-cup vacuum gripping tool: six suction cups carried on a mounting flange, fed by an ejector. It is arranged for cutting part of the circuit while the rest holds vacuum, starting the cycle at the moment of contact and clearing the face at release. 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]Six suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of six follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the oval form.

[0005]One isolation valve. The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common.

[0006]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets.

[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 sustained blast. The blow-off pulse is given after set-down.

[0009]The suction cups are carried on the tool side of the mounting flange.

[0010]The manifold is fixed to the tool side of the mounting flange.

[0011]The ejector is fixed to the tool side of the mounting flange.

[0012]The isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply.

[0013]The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold.

[0014]Each manifold outlet feeds one suction cup by its own vacuum line, so that the six outlets feed six suction cups.

[0015]The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face.

[0016]The blow-off valve is connected to the circuit at the line downstream of the isolation valve, so that compressed air can be driven back through the circuit to the face.

[0017]The robot side of the mounting flange is bolted to the robot flange.

[0018]The ejector is fed from the compressed air supply of the cell.

[0019]The blow-off valve is fed from the compressed air supply of the cell.

[0020]The isolation valve and the blow-off valve are switched by the cell controller; the contact detector reports to the cell controller.

3. Operating sequence and conditions

[0021]

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

[0022]

When the suction cups reach the workpiece, the suction cups are evacuated by the ejector.

[0023]

After the suction cups have reached the workpiece, the isolation valve is closed by the cell controller.

[0024]

While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face.

[0025]

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

[0026]

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

[0027]The cell controller reads the contact detector (on the frame) and commands the blow-off valve, the isolation valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0028]Parameter values of this embodiment: form of the suction cups: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; outlets of the manifold: six (sets how many lines can be fed from one inlet); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a sustained blast (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).

[0029]The blow-off is a sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away.

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 US-10163334-B1, US-10549431-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, US-8132312-B2, WO-2008134339-A4; 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-2026-000004504, 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: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008825, “Six cup vacuum gripper, six outlet manifold, common isolation valve, three stage ejector, sustained blow-off after set-down,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008825.

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

Terms

--- publication_id: "OT-2026-000008825" title: "Six cup vacuum gripper, six outlet manifold, common isolation valve, three stage ejector, sustained blow-off after set-down" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008825" 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: - "discrete suction cup tool" - "mounting flange" - "suction cup" - "ejector" - "isolation valve" - "manifold" - "contact detector" - "blow-off valve" - "blow off release" - "common isolation" --- # Six cup vacuum gripper, six outlet manifold, common isolation valve, three stage ejector, sustained blow-off after set-down ## Abstract A suction-cup vacuum gripping tool comprising one mounting flange, six suction cups, one ejector, one isolation valve, one manifold, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are 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 suction-cup vacuum gripping tool: six suction cups carried on a mounting flange, fed by an ejector. It is arranged for cutting part of the circuit while the rest holds vacuum, starting the cycle at the moment of contact and clearing the face at release. 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] **Six suction cups.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of six follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the oval form. [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] **One isolation valve.** The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [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 sustained blast. The blow-off pulse is given after set-down. [0009] The suction cups are carried on the tool side of the mounting flange. [0010] The manifold is fixed to the tool side of the mounting flange. [0011] The ejector is fixed to the tool side of the mounting flange. [0012] The isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0013] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0014] Each manifold outlet feeds one suction cup by its own vacuum line, so that the six outlets feed six suction cups. [0015] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0016] The blow-off valve is connected to the circuit at the line downstream of the isolation valve, so that compressed air can be driven back through the circuit to the face. [0017] The robot side of the mounting flange is bolted to the robot flange. [0018] The ejector is fed from the compressed air supply of the cell. [0019] The blow-off valve is fed from the compressed air supply of the cell. [0020] The isolation valve and the blow-off valve are 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 suction cups reach the workpiece, the suction cups are evacuated by the ejector. - After the suction cups have reached the workpiece, the isolation valve is closed by the cell controller. - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. - 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. [0027] The cell controller reads the contact detector (on the frame) and commands the blow-off valve, the isolation valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0028] Parameter values of this embodiment: form of the suction cups: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; outlets of the manifold: six (sets how many lines can be fed from one inlet); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a sustained blast (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). [0029] The blow-off is a sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away. ## 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 US-10163334-B1, US-10549431-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, US-8132312-B2, WO-2008134339-A4; 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-2026-000004504, 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: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. OPENTECHNICAL PUBLICATION OT-2026-000008825 Six cup vacuum gripper, six outlet manifold, common isolation valve, three stage ejector, sustained blow-off after set-down Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008825 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A suction-cup vacuum gripping tool comprising one mounting flange, six suction cups, one ejector, one isolation valve, one manifold, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are 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 suction-cup vacuum gripping tool: six suction cups carried on a mounting flange, fed by an ejector. It is arranged for cutting part of the circuit while the rest holds vacuum, starting the cycle at the moment of contact and clearing the face at release. 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] Six suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of six follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the oval form. [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] One isolation valve. The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [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 sustained blast. The blow-off pulse is given after set-down. [0009] The suction cups are carried on the tool side of the mounting flange. [0010] The manifold is fixed to the tool side of the mounting flange. [0011] The ejector is fixed to the tool side of the mounting flange. [0012] The isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0013] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0014] Each manifold outlet feeds one suction cup by its own vacuum line, so that the six outlets feed six suction cups. [0015] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0016] The blow-off valve is connected to the circuit at the line downstream of the isolation valve, so that compressed air can be driven back through the circuit to the face. [0017] The robot side of the mounting flange is bolted to the robot flange. [0018] The ejector is fed from the compressed air supply of the cell. [0019] The blow-off valve is fed from the compressed air supply of the cell. [0020] The isolation valve and the blow-off valve are switched by the cell controller; the contact detector reports to the cell controller. 3. Operating sequence and conditions [0021] - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. [0022] - When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. [0023] - After the suction cups have reached the workpiece, the isolation valve is closed by the cell controller. [0024] - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. [0025] - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. [0026] - The workpiece is held until the blow-off valve has opened the circuit. [0027] The cell controller reads the contact detector (on the frame) and commands the blow-off valve, the isolation valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0028] Parameter values of this embodiment: form of the suction cups: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; outlets of the manifold: six (sets how many lines can be fed from one inlet); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a sustained blast (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). [0029] The blow-off is a sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away. 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 US-10163334-B1, US-10549431-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, US-8132312-B2, WO-2008134339-A4; 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-2026-000004504, 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: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008825 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008825 { "abstract": "A suction-cup vacuum gripping tool comprising one mounting flange, six suction cups, one ejector, one isolation valve, one manifold, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are 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-2026-000008825", "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" ], "extent": { "figures": 0, "paragraphs": 31, "words": 1052 }, "figures": [], "files": [ { "bytes": 18392, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "a22fe0f05d40d95d6ec5594d005a48be4f3d50f984c46b7dbdeb6ece80012889" }, { "bytes": 7789, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "67e8504eb5c167e90be2128dbd081e701583271db77397ce3db0cac6f57d8812" }, { "bytes": 7490, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "931c6d5d899b71f6c2c8cd5b68d66b069f5a14d4c3ed1b5df216e9f5185c7d5b" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000008825/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "discrete suction cup tool", "mounting flange", "suction cup", "ejector", "isolation valve", "manifold", "contact detector", "blow-off valve", "blow off release", "common isolation" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000008825", "published_at": "2026-09-17T08:10:55.823363Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000004504", "title": "Six cup vacuum gripper, six outlet manifold, common isolation valve, three stage ejector, sustained blow-off after set-down", "uuid": "01a0ae6b-31b6-7737-8a1a-d081bb21b1d0" } YtB/S5yjPzt0YAQNEC7jcFfZwLy08n2F5DHzvPoc3mNHXeauPbOwYY23xdBDGlEiOwTKFxF5CuQGmCFzMUuJDg== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: YtB/S5yjPzt0YAQNEC7jcFfZwLy08n2F5DHzvPoc3mNHXeauPbOwYY23xdBDGlEiOwTKFxF5CuQGmCFzMUuJDg== {"files":[{"bytes":18736,"name":"index.html","sha256":"0ed041f9a1dd587aafab56b26f1d6bfe4a6c0b497a3d49def102966a985d9d92"},{"bytes":8192,"name":"publication.md","sha256":"eb2197ea3f0c5df0d988fc21f2ab30d24df864e23ab1d5e4c897d47eb8da5799"},{"bytes":7901,"name":"publication.txt","sha256":"f638ce740b1d4acb9f14708e55287faae61c4df4af9ec5b7b5b181f8ff513591"},{"bytes":2802,"name":"manifest.json","sha256":"689bd736a68727172e886b77e34fd3951f26ba5a43ac9ebab3d51f47867823ba"},{"bytes":89,"name":"manifest.sig","sha256":"83d2ab1a3b0bef2aaf1e3891db43643fde964d90a240d67b7af11abad7810430"},{"bytes":227,"name":"manifest.sig.txt","sha256":"e3a6b93490198371a1ee67a5be929ef9ab8c8a4d92c2514175bdd8e784abe956"}],"publication_id":"OT-2026-000008826"} Foam pad vacuum gripper, four zone face, six outlet manifold, single stage ejector, vented before set-down, on a tool changer - OpenTechnical OT-2026-000008826

This publication supersedes OT-2026-000004505. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008826

Foam pad vacuum gripper, four zone face, six outlet manifold, single stage ejector, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008826
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Valves and Manifolds, Tool Changers
Document SHA-256: f638ce740b1d4acb9f14708e55287faae61c4df4af9ec5b7b5b181f8ff513591

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, one manifold, four zone branches, 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, 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 closed cell foam.

[0005]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets.

[0006]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.

[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 manifold is fixed to the tool side of the tool-change interface.

[0011]The ejector is fixed to the tool side of the tool-change interface.

[0012]The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold.

[0013]Each of the four zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only.

[0014]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.

[0015]The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face.

[0016]The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated.

[0017]The robot side of the tool-change interface is bolted to the robot flange.

[0018]The ejector is fed from the compressed air supply of the cell.

[0019]The remaining two manifold outlets are plugged and carry no line.

[0020]The vent valve is switched by the cell controller; the contact detector reports to the cell controller.

3. Operating sequence and conditions

[0021]

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

[0022]

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

[0023]

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.

[0024]

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

[0025]The cell controller reads the contact detector (on the gripping face) and commands the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0026]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: closed 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); outlets of the manifold: six (sets how many lines can be fed from one inlet); 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 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).

[0027]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.

[0028]The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece.

[0029]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

[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-11858125-B2, US-2022339798-A1, US-8006968-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-2026-000004505, 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: manifold outlets raised to feed every zone; foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008826, “Foam pad vacuum gripper, four zone face, six outlet manifold, single stage ejector, vented before set-down, on a tool changer,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008826.

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

Terms

--- publication_id: "OT-2026-000008826" title: "Foam pad vacuum gripper, four zone face, six outlet manifold, single stage ejector, vented before set-down, on a tool changer" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008826" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/position-and-presence-sensing" - "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" - "manifold" - "zone branch" - "contact detector" - "vent valve" - "compressed air supply" - "contact sensing" --- # Foam pad vacuum gripper, four zone face, six outlet manifold, single stage ejector, vented before set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, one manifold, four zone branches, 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, 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 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 closed 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] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [0006] **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. [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 manifold is fixed to the tool side of the tool-change interface. [0011] The ejector is fixed to the tool side of the tool-change interface. [0012] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0013] Each of the four zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only. [0014] 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. [0015] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0016] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0017] The robot side of the tool-change interface is bolted to the robot flange. [0018] The ejector is fed from the compressed air supply of the cell. [0019] The remaining two manifold outlets are plugged and carry no line. [0020] 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 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 workpiece is held until the vent valve has opened the circuit. [0025] The cell controller reads the contact detector (on the gripping face) and commands the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0026] 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: closed 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); outlets of the manifold: six (sets how many lines can be fed from one inlet); 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 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). [0027] 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. [0028] The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece. [0029] 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 [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-11858125-B2, US-2022339798-A1, US-8006968-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-2026-000004505, 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: manifold outlets raised to feed every zone; foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. OPENTECHNICAL PUBLICATION OT-2026-000008826 Foam pad vacuum gripper, four zone face, six outlet manifold, single stage ejector, vented before set-down, on a tool changer Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008826 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, one manifold, four zone branches, 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, 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 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 closed 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] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [0006] 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. [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 manifold is fixed to the tool side of the tool-change interface. [0011] The ejector is fixed to the tool side of the tool-change interface. [0012] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0013] Each of the four zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only. [0014] 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. [0015] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0016] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0017] The robot side of the tool-change interface is bolted to the robot flange. [0018] The ejector is fed from the compressed air supply of the cell. [0019] The remaining two manifold outlets are plugged and carry no line. [0020] The vent valve is switched by the cell controller; the contact detector reports to the cell controller. 3. Operating sequence and conditions [0021] - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. [0022] - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. [0023] - 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. [0024] - The workpiece is held until the vent valve has opened the circuit. [0025] The cell controller reads the contact detector (on the gripping face) and commands the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0026] 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: closed 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); outlets of the manifold: six (sets how many lines can be fed from one inlet); 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 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). [0027] 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. [0028] The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece. [0029] 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 [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-11858125-B2, US-2022339798-A1, US-8006968-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-2026-000004505, 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: manifold outlets raised to feed every zone; foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008826 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008826 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, one manifold, four zone branches, 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-2026-000008826", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "sensors-controls-machine-vision/position-and-presence-sensing", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "robotics-automation/end-effectors/tool-changers" ], "extent": { "figures": 0, "paragraphs": 31, "words": 1128 }, "figures": [], "files": [ { "bytes": 18736, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "0ed041f9a1dd587aafab56b26f1d6bfe4a6c0b497a3d49def102966a985d9d92" }, { "bytes": 8192, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "eb2197ea3f0c5df0d988fc21f2ab30d24df864e23ab1d5e4c897d47eb8da5799" }, { "bytes": 7901, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "f638ce740b1d4acb9f14708e55287faae61c4df4af9ec5b7b5b181f8ff513591" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000008826/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", "manifold", "zone branch", "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-2026-000008826", "published_at": "2026-09-17T08:10:55.823363Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000004505", "title": "Foam pad vacuum gripper, four zone face, six outlet manifold, single stage ejector, vented before set-down, on a tool changer", "uuid": "01a0ae6b-31b6-7ccb-a922-98c9957b820e" } UhrXqRyIXpJ8nH9LJGI/XG66YoFvM//0Gm1O8Z1dUbYkhPMMdIc3UUS286l+8SBWUuiybjKL1i6vKREmean7Dg== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: UhrXqRyIXpJ8nH9LJGI/XG66YoFvM//0Gm1O8Z1dUbYkhPMMdIc3UUS286l+8SBWUuiybjKL1i6vKREmean7Dg== {"files":[{"bytes":19974,"name":"index.html","sha256":"5c193edb8e3b4cc44133a20045399a25c369ba0b3f77d4990ceaf26a75261897"},{"bytes":9082,"name":"publication.md","sha256":"75ff56eb1c1e40da59f1a78576205915c0e57f87c586a72909be3926d2ac9cad"},{"bytes":8749,"name":"publication.txt","sha256":"305afba48035876d2785f31b4183b183d8eedf6b65661b14b0e9224d347d3564"},{"bytes":2893,"name":"manifest.json","sha256":"e9e1aef20c350d44767d8025dce44f17cee9c19c64bfe8012d0c2c297c263e70"},{"bytes":89,"name":"manifest.sig","sha256":"3bd53be498e3a97614312f47ca0c88d796820a154f2ebd97120ac17efd94ea0f"},{"bytes":227,"name":"manifest.sig.txt","sha256":"cc503002ae2596c5b8bc3fad60d100acaa12fe8509d50dd9c74ccbcf8ce6956e"}],"publication_id":"OT-2026-000008827"} Three cup vacuum gripper, three zone face, six outlet manifold, three stage ejector, manifold pressure sensor, vented before set-down, on a tool changer - OpenTechnical OT-2026-000008827

This publication supersedes OT-2026-000004506. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008827

Three cup vacuum gripper, three zone face, six outlet manifold, three stage ejector, manifold pressure sensor, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008827
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Valves and Manifolds
Document SHA-256: 305afba48035876d2785f31b4183b183d8eedf6b65661b14b0e9224d347d3564

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, three suction cups, one ejector, one manifold, three zone branches, one pressure sensor, one contact detector and one vent valve. When the suction cups reach the workpiece, the suction cups are 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: three suction cups 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 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]Three suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of three follows from the arrangement: one gripping element per zone branch. The suction cups are of the flat form.

[0005]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets.

[0007]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 at the manifold.

[0008]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.

[0009]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.

[0010]The suction cups are carried on the tool side of the tool-change interface.

[0011]The manifold is fixed to the tool side of the tool-change interface.

[0012]The ejector is fixed to the tool side of the tool-change interface.

[0013]The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold.

[0014]Each of the three zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only.

[0015]Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line.

[0016]The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet.

[0017]The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face.

[0018]The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated.

[0019]The robot side of the tool-change interface is bolted to the robot flange.

[0020]The ejector is fed from the compressed air supply of the cell.

[0021]The remaining three manifold outlets are plugged and carry no line.

[0022]The locking piston of the tool-change interface is fed from the compressed air supply of the cell.

[0023]The vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensor and the contact detector report to the cell controller.

3. Operating sequence and conditions

[0024]

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

[0025]

When the suction cups reach the workpiece, the suction cups are evacuated by the ejector.

[0026]

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

[0027]

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

[0028]

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.

[0029]

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

[0030]The cell controller reads the pressure sensor (the manifold) and the contact detector (on the frame) and commands the tool-change interface, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0031]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); form of the suction cups: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: six (sets how many lines can be fed from one inlet); 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: at the manifold (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); 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).

[0032]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.

[0033]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.

[0034]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

[0035]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 US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-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

[0036]This publication supersedes OT-2026-000004506, 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.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008827, “Three cup vacuum gripper, three zone face, six outlet manifold, three stage ejector, manifold pressure sensor, vented before set-down, on a tool changer,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008827.

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

Terms

--- publication_id: "OT-2026-000008827" title: "Three cup vacuum gripper, three zone face, six outlet manifold, three stage ejector, manifold pressure sensor, vented before set-down, on a tool changer" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008827" 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" - "suction cup" - "ejector" - "manifold" - "zone branch" - "pressure sensor" - "contact detector" - "vent valve" - "compressed air supply" --- # Three cup vacuum gripper, three zone face, six outlet manifold, three stage ejector, manifold pressure sensor, vented before set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, three suction cups, one ejector, one manifold, three zone branches, one pressure sensor, one contact detector and one vent valve. When the suction cups reach the workpiece, the suction cups are 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: three suction cups 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 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] **Three suction cups.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of three follows from the arrangement: one gripping element per zone branch. The suction cups are of the flat form. [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] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [0006] **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. [0007] **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 at the manifold. [0008] **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. [0009] **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. [0010] The suction cups are carried on the tool side of the tool-change interface. [0011] The manifold is fixed to the tool side of the tool-change interface. [0012] The ejector is fixed to the tool side of the tool-change interface. [0013] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0014] Each of the three zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only. [0015] Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line. [0016] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0017] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0018] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0019] The robot side of the tool-change interface is bolted to the robot flange. [0020] The ejector is fed from the compressed air supply of the cell. [0021] The remaining three manifold outlets are plugged and carry no line. [0022] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0023] The vent valve and the lock of the tool-change interface are 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 suction cups reach the workpiece, the suction cups are 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. - 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. [0030] The cell controller reads the pressure sensor (the manifold) and the contact detector (on the frame) and commands the tool-change interface, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0031] 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); form of the suction cups: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: six (sets how many lines can be fed from one inlet); 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: at the manifold (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); 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). [0032] 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. [0033] 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. [0034] 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 [0035] 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 US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-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 [0036] This publication supersedes OT-2026-000004506, 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. OPENTECHNICAL PUBLICATION OT-2026-000008827 Three cup vacuum gripper, three zone face, six outlet manifold, three stage ejector, manifold pressure sensor, vented before set-down, on a tool changer Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008827 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, three suction cups, one ejector, one manifold, three zone branches, one pressure sensor, one contact detector and one vent valve. When the suction cups reach the workpiece, the suction cups are 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: three suction cups 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 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] Three suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of three follows from the arrangement: one gripping element per zone branch. The suction cups are of the flat form. [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] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [0006] 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. [0007] 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 at the manifold. [0008] 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. [0009] 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. [0010] The suction cups are carried on the tool side of the tool-change interface. [0011] The manifold is fixed to the tool side of the tool-change interface. [0012] The ejector is fixed to the tool side of the tool-change interface. [0013] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0014] Each of the three zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only. [0015] Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line. [0016] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0017] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0018] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0019] The robot side of the tool-change interface is bolted to the robot flange. [0020] The ejector is fed from the compressed air supply of the cell. [0021] The remaining three manifold outlets are plugged and carry no line. [0022] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0023] The vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensor and the contact detector report to the cell controller. 3. Operating sequence and conditions [0024] - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. [0025] - When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. [0026] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0027] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0028] - 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. [0029] - The workpiece is held until the vent valve has opened the circuit. [0030] The cell controller reads the pressure sensor (the manifold) and the contact detector (on the frame) and commands the tool-change interface, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0031] 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); form of the suction cups: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: six (sets how many lines can be fed from one inlet); 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: at the manifold (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); 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). [0032] 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. [0033] 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. [0034] 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 [0035] 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 US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-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 [0036] This publication supersedes OT-2026-000004506, 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. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008827 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008827 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, three suction cups, one ejector, one manifold, three zone branches, one pressure sensor, one contact detector and one vent valve. When the suction cups reach the workpiece, the suction cups are 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-2026-000008827", "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": 36, "words": 1252 }, "figures": [], "files": [ { "bytes": 19974, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "5c193edb8e3b4cc44133a20045399a25c369ba0b3f77d4990ceaf26a75261897" }, { "bytes": 9082, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "75ff56eb1c1e40da59f1a78576205915c0e57f87c586a72909be3926d2ac9cad" }, { "bytes": 8749, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "305afba48035876d2785f31b4183b183d8eedf6b65661b14b0e9224d347d3564" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000008827/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "tool-change interface", "suction cup", "ejector", "manifold", "zone branch", "pressure sensor", "contact detector", "vent valve", "compressed air supply" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000008827", "published_at": "2026-09-17T08:10:55.823363Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000004506", "title": "Three cup vacuum gripper, three zone face, six outlet manifold, three stage ejector, manifold pressure sensor, vented before set-down, on a tool changer", "uuid": "01a0ae6b-31b6-7a1b-9607-32b74a22287f" } fQpxGixk0/Ez2/Ffwh1d9kKPll8N4u+F/msGPLvJBDu6dc6wWnn9V0YdKCHD+HucjRuspIPtGzlK6UAvlEjIAA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: fQpxGixk0/Ez2/Ffwh1d9kKPll8N4u+F/msGPLvJBDu6dc6wWnn9V0YdKCHD+HucjRuspIPtGzlK6UAvlEjIAA== {"files":[{"bytes":18875,"name":"index.html","sha256":"db494bcdcb6443329041082368f5645c266bca7efe39c4474b44a4e30b0085d7"},{"bytes":8202,"name":"publication.md","sha256":"22a4e07beb009b48007fbbd829defe589e7da38cb6ec2d4e1b1c3a6ce06815d4"},{"bytes":7876,"name":"publication.txt","sha256":"0ff9e20069c18b45a6ac35b4600baa35d86c8312b1368e7eded368312f4b5df6"},{"bytes":2855,"name":"manifest.json","sha256":"efa5db7a1d79c3d4f4e4e93752b4f5869fcf3997aefbdf8595e947ff7bbda89c"},{"bytes":89,"name":"manifest.sig","sha256":"fac4b007574b388ae31343b66dfd6324a57fa9e2ef350ad73a28b725209f413f"},{"bytes":227,"name":"manifest.sig.txt","sha256":"c049c91bf984c9c12f4a89cdfcab956f4dac8d62f9a881eef1095006704655d4"}],"publication_id":"OT-2026-000008828"} Two bellows cup vacuum gripper, two zone face, four outlet manifold, single stage ejector, manifold pressure sensor, vented before set-down, on a tool changer - OpenTechnical OT-2026-000008828

This publication supersedes OT-2026-000004507. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008828

Two bellows cup vacuum gripper, two zone face, four outlet manifold, single stage ejector, manifold pressure sensor, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008828
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Tool Changers
Document SHA-256: 0ff9e20069c18b45a6ac35b4600baa35d86c8312b1368e7eded368312f4b5df6

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, two bellows cups, one ejector, one manifold, two zone branches, one pressure sensor and one vent valve. When the bellows cups reach the workpiece, the bellows cups are 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: two bellows cups 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, taking up height differences at the face 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]Two bellows cups. Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. The count of two follows from the arrangement: one gripping element per zone branch. Each bellows cup has one fold.

[0005]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets.

[0006]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.

[0007]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 at the manifold.

[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 bellows cups are carried on the tool side of the tool-change interface.

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

[0011]The ejector is fixed to the tool side of the tool-change interface.

[0012]The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold.

[0013]Each of the two zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only.

[0014]Each bellows cup is connected to its own zone line, one bellows cup per zone, and is evacuated through that line.

[0015]The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet.

[0016]The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated.

[0017]The robot side of the tool-change interface is bolted to the robot flange.

[0018]The ejector is fed from the compressed air supply of the cell.

[0019]The remaining two manifold outlets are plugged and carry no line.

[0020]The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller.

3. Operating sequence and conditions

[0021]

When the bellows cups reach the workpiece, the bellows cups are 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]

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 (the manifold) and commands 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: mechanical (sets what has to be present at the interface for the tool to stay attached); folds of the bellows cups: one (sets the travel taken up between the face and the workpiece, and the lateral stiffness of the cup under load); material of the bellows cups: plastic (sets the friction at the lip and the resistance of the folds to fatigue); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: four (sets how many lines can be fed from one inlet); 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: at the manifold (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).

[0028]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.

[0029]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.

[0030]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

[0031]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-4489564-B1, US-11427405-B1, US-11858125-B2, US-8006968-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

[0032]This publication supersedes OT-2026-000004507, 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.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008828, “Two bellows cup vacuum gripper, two zone face, four outlet manifold, single stage ejector, manifold pressure sensor, vented before set-down, on a tool changer,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008828.

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

Terms

--- publication_id: "OT-2026-000008828" title: "Two bellows cup vacuum gripper, two zone face, four outlet manifold, single stage ejector, manifold pressure sensor, vented before set-down, on a tool changer" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008828" 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" - "bellows cup" - "ejector" - "manifold" - "zone branch" - "pressure sensor" - "vent valve" - "compressed air supply" - "drop release" --- # Two bellows cup vacuum gripper, two zone face, four outlet manifold, single stage ejector, manifold pressure sensor, vented before set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, two bellows cups, one ejector, one manifold, two zone branches, one pressure sensor and one vent valve. When the bellows cups reach the workpiece, the bellows cups are 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: two bellows cups 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, taking up height differences at the face 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] **Two bellows cups.** Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. The count of two follows from the arrangement: one gripping element per zone branch. Each bellows cup has one fold. [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] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets. [0006] **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. [0007] **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 at the manifold. [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 bellows cups are carried on the tool side of the tool-change interface. [0010] The manifold is fixed to the tool side of the tool-change interface. [0011] The ejector is fixed to the tool side of the tool-change interface. [0012] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0013] Each of the two zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only. [0014] Each bellows cup is connected to its own zone line, one bellows cup per zone, and is evacuated through that line. [0015] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0016] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0017] The robot side of the tool-change interface is bolted to the robot flange. [0018] The ejector is fed from the compressed air supply of the cell. [0019] The remaining two manifold outlets are plugged and carry no line. [0020] The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller. ## 3. Operating sequence and conditions - When the bellows cups reach the workpiece, the bellows cups are 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. - 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 (the manifold) and commands 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: mechanical (sets what has to be present at the interface for the tool to stay attached); folds of the bellows cups: one (sets the travel taken up between the face and the workpiece, and the lateral stiffness of the cup under load); material of the bellows cups: plastic (sets the friction at the lip and the resistance of the folds to fatigue); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: four (sets how many lines can be fed from one inlet); 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: at the manifold (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). [0028] 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. [0029] 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. [0030] 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 [0031] 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-4489564-B1, US-11427405-B1, US-11858125-B2, US-8006968-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 [0032] This publication supersedes OT-2026-000004507, 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. OPENTECHNICAL PUBLICATION OT-2026-000008828 Two bellows cup vacuum gripper, two zone face, four outlet manifold, single stage ejector, manifold pressure sensor, vented before set-down, on a tool changer Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008828 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, two bellows cups, one ejector, one manifold, two zone branches, one pressure sensor and one vent valve. When the bellows cups reach the workpiece, the bellows cups are 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: two bellows cups 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, taking up height differences at the face 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] Two bellows cups. Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. The count of two follows from the arrangement: one gripping element per zone branch. Each bellows cup has one fold. [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] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets. [0006] 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. [0007] 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 at the manifold. [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 bellows cups are carried on the tool side of the tool-change interface. [0010] The manifold is fixed to the tool side of the tool-change interface. [0011] The ejector is fixed to the tool side of the tool-change interface. [0012] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0013] Each of the two zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only. [0014] Each bellows cup is connected to its own zone line, one bellows cup per zone, and is evacuated through that line. [0015] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0016] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0017] The robot side of the tool-change interface is bolted to the robot flange. [0018] The ejector is fed from the compressed air supply of the cell. [0019] The remaining two manifold outlets are plugged and carry no line. [0020] The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller. 3. Operating sequence and conditions [0021] - When the bellows cups reach the workpiece, the bellows cups are 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] - 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 (the manifold) and commands 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: mechanical (sets what has to be present at the interface for the tool to stay attached); folds of the bellows cups: one (sets the travel taken up between the face and the workpiece, and the lateral stiffness of the cup under load); material of the bellows cups: plastic (sets the friction at the lip and the resistance of the folds to fatigue); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: four (sets how many lines can be fed from one inlet); 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: at the manifold (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). [0028] 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. [0029] 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. [0030] 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 [0031] 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-4489564-B1, US-11427405-B1, US-11858125-B2, US-8006968-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 [0032] This publication supersedes OT-2026-000004507, 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. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008828 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008828 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, two bellows cups, one ejector, one manifold, two zone branches, one pressure sensor and one vent valve. When the bellows cups reach the workpiece, the bellows cups are 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-2026-000008828", "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": 32, "words": 1117 }, "figures": [], "files": [ { "bytes": 18875, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "db494bcdcb6443329041082368f5645c266bca7efe39c4474b44a4e30b0085d7" }, { "bytes": 8202, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "22a4e07beb009b48007fbbd829defe589e7da38cb6ec2d4e1b1c3a6ce06815d4" }, { "bytes": 7876, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "0ff9e20069c18b45a6ac35b4600baa35d86c8312b1368e7eded368312f4b5df6" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000008828/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "tool-change interface", "bellows cup", "ejector", "manifold", "zone branch", "pressure sensor", "vent valve", "compressed air supply", "drop release" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000008828", "published_at": "2026-09-17T08:10:55.823363Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000004507", "title": "Two bellows cup vacuum gripper, two zone face, four outlet manifold, single stage ejector, manifold pressure sensor, vented before set-down, on a tool changer", "uuid": "01a0ae6b-31b6-7fbd-a2bf-391c1be72fed" } JQ4ZG6DTi3N6QgA1vN5MPzR4txZ0B/WD0OEj7YAFCI4c+f5KDusvaR1xr2d9k3FyLQPflbT7iVFaqMjFsMApBQ== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: JQ4ZG6DTi3N6QgA1vN5MPzR4txZ0B/WD0OEj7YAFCI4c+f5KDusvaR1xr2d9k3FyLQPflbT7iVFaqMjFsMApBQ== {"files":[{"bytes":18190,"name":"index.html","sha256":"0a64b52d9c81be416c99597f5d1702321dd431e5f5308e99cb31a32fc4ce55bd"},{"bytes":7756,"name":"publication.md","sha256":"28dcb2d974e2865e837d0d970a33f0c1be38a0068b8a2fa0f6556db317f65f23"},{"bytes":7460,"name":"publication.txt","sha256":"772538144183c5639bb639ac60325fa48b8233a720b6bbf61c10feca896ad90e"},{"bytes":2823,"name":"manifest.json","sha256":"92815df07a57ba71212a49bfb1b7a5fc45c9992f43a6c5f1cb20804e3534ee40"},{"bytes":89,"name":"manifest.sig","sha256":"bb19cf4de040ad05bc1fa966c2aee71591c4ea8e75894a2379bf6309434fd9c1"},{"bytes":227,"name":"manifest.sig.txt","sha256":"b8951604b1f2d85d657db2dc6b710032401b6774c56b94f48c9828df509c40bb"}],"publication_id":"OT-2026-000008829"} Four cup vacuum gripper, four outlet manifold, pump fed, sustained blow-off before set-down, on a tool changer - OpenTechnical OT-2026-000008829

This publication supersedes OT-2026-000004508. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008829

Four cup vacuum gripper, four outlet manifold, pump fed, sustained blow-off before set-down, on a tool changer

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008829
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Valves and Manifolds, Tool Changers
Document SHA-256: 772538144183c5639bb639ac60325fa48b8233a720b6bbf61c10feca896ad90e

Abstract

A suction-cup vacuum gripping tool comprising one tool-change interface, four suction cups, one vacuum pump, one manifold, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off 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 suction-cup vacuum gripping tool: four suction cups carried on a tool-change interface, fed by a vacuum pump. It is arranged for starting the cycle at the moment of contact, clearing the face at release 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]Four suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of four follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the flat form.

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

[0005]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets.

[0008]The suction cups are carried on the tool side of the tool-change interface.

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

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

[0011]The manifold inlet is connected to the pump inlet line, which supplies every outlet of the manifold.

[0012]Each manifold outlet feeds one suction cup by its own vacuum line, so that the four outlets feed four suction cups.

[0013]The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face.

[0014]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.

[0015]The robot side of the tool-change interface is bolted to the robot flange.

[0016]The pump motor is supplied from the electrical supply of the cell.

[0017]The blow-off valve 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 blow-off valve and the lock of the tool-change interface are switched by the cell controller; the contact detector reports 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 suction cups reach the workpiece, the suction cups are evacuated by the vacuum pump.

[0022]

Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface.

[0023]

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

[0024]The cell controller reads the contact detector (on the gripping face) 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); form of the suction cups: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); outlets of the manifold: four (sets how many lines can be fed from one inlet); placement of the contact detector: on the gripping face (sets where the presence of the workpiece is detected); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[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 blow-off is a sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away.

[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.

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 US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, US-8132312-B2; 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-2026-000004508, 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.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008829, “Four cup vacuum gripper, four outlet manifold, pump fed, sustained blow-off before set-down, on a tool changer,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008829.

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

Terms

--- publication_id: "OT-2026-000008829" title: "Four cup vacuum gripper, four outlet manifold, pump fed, sustained blow-off before set-down, on a tool changer" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008829" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/position-and-presence-sensing" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" keywords: - "discrete suction cup tool" - "tool-change interface" - "suction cup" - "vacuum pump" - "manifold" - "contact detector" - "blow-off valve" - "blow off release" - "compressed air supply" - "contact sensing" --- # Four cup vacuum gripper, four outlet manifold, pump fed, sustained blow-off before set-down, on a tool changer ## Abstract A suction-cup vacuum gripping tool comprising one tool-change interface, four suction cups, one vacuum pump, one manifold, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off 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 suction-cup vacuum gripping tool: four suction cups carried on a tool-change interface, fed by a vacuum pump. It is arranged for starting the cycle at the moment of contact, clearing the face at release 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] **Four suction cups.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of four follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the flat form. [0004] **One vacuum pump.** The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets. [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 gripping face. [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 before set-down. [0008] The suction cups are carried on the tool side of the tool-change interface. [0009] The manifold is fixed to the tool side of the tool-change interface. [0010] The vacuum pump is fixed to the tool side of the tool-change interface. [0011] The manifold inlet is connected to the pump inlet line, which supplies every outlet of the manifold. [0012] Each manifold outlet feeds one suction cup by its own vacuum line, so that the four outlets feed four suction cups. [0013] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0014] 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. [0015] The robot side of the tool-change interface is bolted to the robot flange. [0016] The pump motor is supplied from the electrical supply of the cell. [0017] The blow-off valve 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 blow-off valve and the lock of the tool-change interface are 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 suction cups reach the workpiece, the suction cups are evacuated by the vacuum pump. - Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. - The workpiece is held until the blow-off valve has opened the circuit. [0024] The cell controller reads the contact detector (on the gripping face) 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); form of the suction cups: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); outlets of the manifold: four (sets how many lines can be fed from one inlet); placement of the contact detector: on the gripping face (sets where the presence of the workpiece is detected); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [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 blow-off is a sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away. [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. ## 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 US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, US-8132312-B2; 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-2026-000004508, 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. OPENTECHNICAL PUBLICATION OT-2026-000008829 Four cup vacuum gripper, four outlet manifold, pump fed, sustained blow-off before set-down, on a tool changer Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008829 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A suction-cup vacuum gripping tool comprising one tool-change interface, four suction cups, one vacuum pump, one manifold, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off 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 suction-cup vacuum gripping tool: four suction cups carried on a tool-change interface, fed by a vacuum pump. It is arranged for starting the cycle at the moment of contact, clearing the face at release 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] Four suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of four follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the flat form. [0004] One vacuum pump. The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets. [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 gripping face. [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 before set-down. [0008] The suction cups are carried on the tool side of the tool-change interface. [0009] The manifold is fixed to the tool side of the tool-change interface. [0010] The vacuum pump is fixed to the tool side of the tool-change interface. [0011] The manifold inlet is connected to the pump inlet line, which supplies every outlet of the manifold. [0012] Each manifold outlet feeds one suction cup by its own vacuum line, so that the four outlets feed four suction cups. [0013] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0014] 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. [0015] The robot side of the tool-change interface is bolted to the robot flange. [0016] The pump motor is supplied from the electrical supply of the cell. [0017] The blow-off valve 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 blow-off valve and the lock of the tool-change interface are switched by the cell controller; the contact detector reports 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 suction cups reach the workpiece, the suction cups are evacuated by the vacuum pump. [0022] - Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. [0023] - The workpiece is held until the blow-off valve has opened the circuit. [0024] The cell controller reads the contact detector (on the gripping face) 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); form of the suction cups: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); outlets of the manifold: four (sets how many lines can be fed from one inlet); placement of the contact detector: on the gripping face (sets where the presence of the workpiece is detected); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [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 blow-off is a sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away. [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. 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 US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, US-8132312-B2; 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-2026-000004508, 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. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008829 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008829 { "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, four suction cups, one vacuum pump, one manifold, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. 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This publication supersedes OT-2026-000004509. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008830

Four bellows cup vacuum gripper, four zone face, six outlet manifold, pump fed, manifold pressure sensor, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008830
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Valves and Manifolds
Document SHA-256: 05071103c60fb2c097ab00170ae6e22f95d6ee3a256374dd88e76f365d6d02b5

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, four bellows cups, one vacuum pump, one manifold, four zone branches, one pressure sensor, one contact detector and one vent valve. When the bellows cups reach the workpiece, the bellows cups are 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: four bellows cups 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, starting the cycle at the moment of contact, controlling the moment of release, taking up height differences at the face 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]Four bellows cups. Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. The count of four follows from the arrangement: one gripping element per zone branch. Each bellows cup has one fold.

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

[0005]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets.

[0007]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 at the manifold.

[0009]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.

[0010]The bellows cups are carried on the tool side of the tool-change interface.

[0011]The manifold is fixed to the tool side of the tool-change interface.

[0012]The vacuum pump is fixed to the tool side of the tool-change interface.

[0013]The manifold inlet is connected to the pump inlet line, which supplies every outlet of the manifold.

[0014]Each of the four zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only.

[0015]Each bellows cup is connected to its own zone line, one bellows cup per zone, and is evacuated through that line.

[0016]The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet.

[0017]The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face.

[0018]The vent valve is connected to the circuit at the pump inlet line and opens that circuit to atmosphere when it is actuated.

[0019]The robot side of the tool-change interface is bolted to the robot flange.

[0020]The pump motor is supplied from the electrical supply of the cell.

[0021]The remaining two manifold outlets are plugged and carry no line.

[0022]The vent valve is switched by the cell controller; the pressure sensor and the contact detector report to the cell controller.

3. Operating sequence and conditions

[0023]

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

[0024]

When the bellows cups reach the workpiece, the bellows cups are evacuated by the vacuum pump.

[0025]

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

[0026]

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

[0027]

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.

[0028]

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

[0029]The cell controller reads the pressure sensor (the manifold) and the contact detector (on the gripping face) and commands the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0030]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); folds of the bellows cups: one (sets the travel taken up between the face and the workpiece, and the lateral stiffness of the cup under load); material of the bellows cups: plastic (sets the friction at the lip and the resistance of the folds to fatigue); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); outlets of the manifold: six (sets how many lines can be fed from one inlet); 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: at the manifold (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).

[0031]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.

[0032]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

[0034]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-4489564-B1, US-11427405-B1, US-11858125-B2, US-2022339798-A1, US-8006968-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

[0035]This publication supersedes OT-2026-000004509, 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: manifold outlets raised to feed every zone.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008830, “Four bellows cup vacuum gripper, four zone face, six outlet manifold, pump fed, manifold pressure sensor, vented before set-down, on a tool changer,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008830.

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

Terms

--- publication_id: "OT-2026-000008830" title: "Four bellows cup vacuum gripper, four zone face, six outlet manifold, pump fed, manifold pressure sensor, vented before set-down, on a tool changer" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008830" 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" - "bellows cup" - "vacuum pump" - "manifold" - "zone branch" - "pressure sensor" - "contact detector" - "vent valve" - "contact sensing" --- # Four bellows cup vacuum gripper, four zone face, six outlet manifold, pump fed, manifold pressure sensor, vented before set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, four bellows cups, one vacuum pump, one manifold, four zone branches, one pressure sensor, one contact detector and one vent valve. When the bellows cups reach the workpiece, the bellows cups are 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: four bellows cups 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, starting the cycle at the moment of contact, controlling the moment of release, taking up height differences at the face 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] **Four bellows cups.** Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. The count of four follows from the arrangement: one gripping element per zone branch. Each bellows cup has one fold. [0004] **One vacuum pump.** The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [0006] **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. [0007] **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 at the manifold. [0008] **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. [0009] **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. [0010] The bellows cups are carried on the tool side of the tool-change interface. [0011] The manifold is fixed to the tool side of the tool-change interface. [0012] The vacuum pump is fixed to the tool side of the tool-change interface. [0013] The manifold inlet is connected to the pump inlet line, which supplies every outlet of the manifold. [0014] Each of the four zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only. [0015] Each bellows cup is connected to its own zone line, one bellows cup per zone, and is evacuated through that line. [0016] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0017] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0018] The vent valve is connected to the circuit at the pump inlet line and opens that circuit to atmosphere when it is actuated. [0019] The robot side of the tool-change interface is bolted to the robot flange. [0020] The pump motor is supplied from the electrical supply of the cell. [0021] The remaining two manifold outlets are plugged and carry no line. [0022] The vent 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 bellows cups reach the workpiece, the bellows cups are 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. [0029] The cell controller reads the pressure sensor (the manifold) and the contact detector (on the gripping face) and commands the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0030] 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); folds of the bellows cups: one (sets the travel taken up between the face and the workpiece, and the lateral stiffness of the cup under load); material of the bellows cups: plastic (sets the friction at the lip and the resistance of the folds to fatigue); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); outlets of the manifold: six (sets how many lines can be fed from one inlet); 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: at the manifold (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). [0031] 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. [0032] 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. [0033] 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 [0034] 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-4489564-B1, US-11427405-B1, US-11858125-B2, US-2022339798-A1, US-8006968-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 [0035] This publication supersedes OT-2026-000004509, 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: manifold outlets raised to feed every zone. OPENTECHNICAL PUBLICATION OT-2026-000008830 Four bellows cup vacuum gripper, four zone face, six outlet manifold, pump fed, manifold pressure sensor, vented before set-down, on a tool changer Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008830 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, four bellows cups, one vacuum pump, one manifold, four zone branches, one pressure sensor, one contact detector and one vent valve. When the bellows cups reach the workpiece, the bellows cups are 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: four bellows cups 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, starting the cycle at the moment of contact, controlling the moment of release, taking up height differences at the face 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] Four bellows cups. Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. The count of four follows from the arrangement: one gripping element per zone branch. Each bellows cup has one fold. [0004] One vacuum pump. The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [0006] 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. [0007] 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 at the manifold. [0008] 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. [0009] 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. [0010] The bellows cups are carried on the tool side of the tool-change interface. [0011] The manifold is fixed to the tool side of the tool-change interface. [0012] The vacuum pump is fixed to the tool side of the tool-change interface. [0013] The manifold inlet is connected to the pump inlet line, which supplies every outlet of the manifold. [0014] Each of the four zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only. [0015] Each bellows cup is connected to its own zone line, one bellows cup per zone, and is evacuated through that line. [0016] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0017] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0018] The vent valve is connected to the circuit at the pump inlet line and opens that circuit to atmosphere when it is actuated. [0019] The robot side of the tool-change interface is bolted to the robot flange. [0020] The pump motor is supplied from the electrical supply of the cell. [0021] The remaining two manifold outlets are plugged and carry no line. [0022] The vent valve is switched by the cell controller; the pressure sensor and the contact detector report to the cell controller. 3. Operating sequence and conditions [0023] - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. [0024] - When the bellows cups reach the workpiece, the bellows cups are evacuated by the vacuum pump. [0025] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0026] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0027] - 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. [0028] - The workpiece is held until the vent valve has opened the circuit. [0029] The cell controller reads the pressure sensor (the manifold) and the contact detector (on the gripping face) and commands the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0030] 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); folds of the bellows cups: one (sets the travel taken up between the face and the workpiece, and the lateral stiffness of the cup under load); material of the bellows cups: plastic (sets the friction at the lip and the resistance of the folds to fatigue); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); outlets of the manifold: six (sets how many lines can be fed from one inlet); 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: at the manifold (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). [0031] 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. [0032] 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. [0033] 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 [0034] 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-4489564-B1, US-11427405-B1, US-11858125-B2, US-2022339798-A1, US-8006968-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 [0035] This publication supersedes OT-2026-000004509, 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: manifold outlets raised to feed every zone. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008830 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008830 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, four bellows cups, one vacuum pump, one manifold, four zone branches, one pressure sensor, one contact detector and one vent valve. When the bellows cups reach the workpiece, the bellows cups are 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-2026-000004510. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008831

Two pad foam vacuum gripper, two outlet manifold, three stage ejector, pulsed blow-off after set-down

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008831
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Vacuum Generation, Vacuum Safety Systems
Document SHA-256: b01544b5260a2a000e4ff2f931fd8775841b27beae72520e4a065ff2f9bb4315

Abstract

A foam-pad vacuum gripping tool comprising one mounting flange, two foam pads, one ejector, one manifold and one blow-off valve. When the foam pads reach the workpiece, the foam pads are 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 foam-pad vacuum gripping tool: two foam pads carried on a mounting flange, fed by an ejector. It is arranged for 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]Two foam pads. Each 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 count of two follows from the arrangement: one gripping element per manifold outlet. The pad is of open cell foam.

[0005]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets.

[0006]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.

[0007]The foam pads are carried on the tool side of the mounting flange.

[0008]The manifold is fixed to the tool side of the mounting flange.

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

[0010]The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold.

[0011]Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads.

[0012]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.

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

[0014]The ejector is fed from the compressed air supply of the cell.

[0015]The blow-off valve is fed from the compressed air supply of the cell.

[0016]The blow-off valve is switched by the cell controller.

3. Operating sequence and conditions

[0017]

When the foam pads reach the workpiece, the foam pads are evacuated by the ejector.

[0018]

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

[0019]

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

[0020]The cell controller commands the blow-off valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0021]Parameter values of this embodiment: material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: 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); outlets of the manifold: two (sets how many lines can be fed from one inlet); 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).

[0022]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.

[0023]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

[0024]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-8006968-B2, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0025]This publication supersedes OT-2026-000004510, 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.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008831, “Two pad foam vacuum gripper, two outlet manifold, three stage ejector, pulsed blow-off after set-down,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008831.

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

Terms

--- publication_id: "OT-2026-000008831" title: "Two pad foam vacuum gripper, two outlet manifold, three stage ejector, pulsed blow-off after set-down" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008831" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" - "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" keywords: - "foam area gripping tool" - "mounting flange" - "foam pad" - "ejector" - "manifold" - "blow-off valve" - "blow off release" - "compressed air supply" - "release control" - "vacuum" --- # Two pad foam vacuum gripper, two outlet manifold, three stage ejector, pulsed blow-off after set-down ## Abstract A foam-pad vacuum gripping tool comprising one mounting flange, two foam pads, one ejector, one manifold and one blow-off valve. When the foam pads reach the workpiece, the foam pads are 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 foam-pad vacuum gripping tool: two foam pads carried on a mounting flange, fed by an ejector. It is arranged for 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] **Two foam pads.** Each 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 count of two follows from the arrangement: one gripping element per manifold outlet. 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] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets. [0006] **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. [0007] The foam pads are carried on the tool side of the mounting flange. [0008] The manifold is fixed to the tool side of the mounting flange. [0009] The ejector is fixed to the tool side of the mounting flange. [0010] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0011] Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads. [0012] 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. [0013] The robot side of the mounting flange is bolted to the robot flange. [0014] The ejector is fed from the compressed air supply of the cell. [0015] The blow-off valve is fed from the compressed air supply of the cell. [0016] The blow-off valve is switched by the cell controller. ## 3. Operating sequence and conditions - When the foam pads reach the workpiece, the foam pads are 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. [0020] The cell controller commands the blow-off valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0021] Parameter values of this embodiment: material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: 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); outlets of the manifold: two (sets how many lines can be fed from one inlet); 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). [0022] 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. [0023] 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 [0024] 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-8006968-B2, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0025] This publication supersedes OT-2026-000004510, 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. OPENTECHNICAL PUBLICATION OT-2026-000008831 Two pad foam vacuum gripper, two outlet manifold, three stage ejector, pulsed blow-off after set-down Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008831 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A foam-pad vacuum gripping tool comprising one mounting flange, two foam pads, one ejector, one manifold and one blow-off valve. When the foam pads reach the workpiece, the foam pads are 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 foam-pad vacuum gripping tool: two foam pads carried on a mounting flange, fed by an ejector. It is arranged for 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] Two foam pads. Each 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 count of two follows from the arrangement: one gripping element per manifold outlet. 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] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets. [0006] 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. [0007] The foam pads are carried on the tool side of the mounting flange. [0008] The manifold is fixed to the tool side of the mounting flange. [0009] The ejector is fixed to the tool side of the mounting flange. [0010] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0011] Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads. [0012] 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. [0013] The robot side of the mounting flange is bolted to the robot flange. [0014] The ejector is fed from the compressed air supply of the cell. [0015] The blow-off valve is fed from the compressed air supply of the cell. [0016] The blow-off valve is switched by the cell controller. 3. Operating sequence and conditions [0017] - When the foam pads reach the workpiece, the foam pads are evacuated by the ejector. [0018] - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. [0019] - The workpiece is held until the blow-off valve has opened the circuit. [0020] The cell controller commands the blow-off valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0021] Parameter values of this embodiment: material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: 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); outlets of the manifold: two (sets how many lines can be fed from one inlet); 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). [0022] 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. [0023] 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 [0024] 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-8006968-B2, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0025] This publication supersedes OT-2026-000004510, 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. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008831 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008831 { "abstract": "A foam-pad vacuum gripping tool comprising one mounting flange, two foam pads, one ejector, one manifold and one blow-off valve. When the foam pads reach the workpiece, the foam pads are 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-2026-000008831", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "industrial-motion-power-transmission/fluid-power/vacuum-generation", "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" ], "extent": { "figures": 0, "paragraphs": 25, "words": 822 }, "figures": [], "files": [ { "bytes": 16388, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "a2fe9b3591004b8e362625c378cb1a0cb0c42ef51701a599ca7c03c7a4e4ccdd" }, { "bytes": 6213, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "87eb2b5978e0d856ae794e9af80d42086345858acd357e9aca0e89a03694c539" }, { "bytes": 5919, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "b01544b5260a2a000e4ff2f931fd8775841b27beae72520e4a065ff2f9bb4315" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000008831/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "foam area gripping tool", "mounting flange", "foam pad", "ejector", "manifold", "blow-off valve", "blow off release", "compressed air supply", "release control", "vacuum" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000008831", "published_at": "2026-09-17T08:10:55.823363Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000004510", "title": "Two pad foam vacuum gripper, two outlet manifold, three stage ejector, pulsed blow-off after set-down", "uuid": "01a0ae6b-31b7-7585-85aa-974f2c04ef0d" } U9fFKe8+h8E80bGDSW+WsJ0f3Vx1L9pPp4or3EkuQkUoBh214uQ//ZCFUFW8KGSaQW3YUtacJTJt41TSAI3zCg== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: U9fFKe8+h8E80bGDSW+WsJ0f3Vx1L9pPp4or3EkuQkUoBh214uQ//ZCFUFW8KGSaQW3YUtacJTJt41TSAI3zCg== {"files":[{"bytes":17096,"name":"index.html","sha256":"a70a5c687e15eb417f7e4c1e9adbe85752ec762c60bfe4c9a86b8c51d61c5ee8"},{"bytes":6751,"name":"publication.md","sha256":"ca74ac457d047e4f9ca2087a97b9baff4b27be09761cd692c17cc4487d044876"},{"bytes":6447,"name":"publication.txt","sha256":"c54f4d0c97c52491b6be4f7853d22dcd4380e03a2eb01c9d3d2dbd1199bca354"},{"bytes":2769,"name":"manifest.json","sha256":"2b10b3737722f990c902b0d7237daefd73b8eb2526c90d8245d8aadbccbe3339"},{"bytes":89,"name":"manifest.sig","sha256":"8adbdaaff18dcffa1acae5e65c895d65934262c0e7daa961b127cfe400ed0ce0"},{"bytes":227,"name":"manifest.sig.txt","sha256":"f9d3cc19b81a10457f96aa521114ca6f17173fed5523fb00ef28a86a855f4c98"}],"publication_id":"OT-2026-000008832"} Two cup vacuum gripper, two outlet manifold, two stage ejector, manifold pressure sensor, vented after set-down - OpenTechnical OT-2026-000008832

This publication supersedes OT-2026-000004511. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008832

Two cup vacuum gripper, two outlet manifold, two stage ejector, manifold pressure sensor, vented after set-down

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008832
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Vacuum Generation
Document SHA-256: c54f4d0c97c52491b6be4f7853d22dcd4380e03a2eb01c9d3d2dbd1199bca354

Abstract

A suction-cup vacuum gripping tool comprising one mounting flange, two suction cups, one ejector, one manifold, one pressure sensor and one vent valve. When the suction cups reach the workpiece, the suction cups are 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 suction-cup vacuum gripping tool: two suction cups carried on a mounting flange, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves and controlling the moment of release. 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.

[0005]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets.

[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 at the manifold.

[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 suction cups are carried on the tool side of the mounting flange.

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

[0010]The ejector is fixed to the tool side of the mounting flange.

[0011]The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold.

[0012]Each manifold outlet feeds one suction cup by its own vacuum line, so that the two outlets feed two suction cups.

[0013]The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet.

[0014]The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated.

[0015]The robot side of the mounting flange is bolted to the robot flange.

[0016]The ejector is fed from the compressed air supply of the cell.

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

3. Operating sequence and conditions

[0018]

When the suction cups reach the workpiece, the suction cups are evacuated by the ejector.

[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 vacuum circuit is vented by the vent valve.

[0022]

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

[0023]The cell controller reads the pressure sensor (the manifold) and commands the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0024]Parameter values of this embodiment: form of the suction cups: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: two (sets how many lines can be fed from one inlet); placement of the pressure sensor: at the manifold (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).

[0025]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

[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 US-10549431-B2, US-11427405-B1, US-2016214812-A1, US-8006968-B2, WO-2008134339-A4; 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-2026-000004511, 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: release element added: a vent valve after set-down (the legacy assembly had no way to let go); suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000008832, “Two cup vacuum gripper, two outlet manifold, two stage ejector, manifold pressure sensor, vented after set-down,” published September 17, 2026 at 08:10:55 UTC, https://opentechnical.org/p/OT-2026-000008832.

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

Terms

--- publication_id: "OT-2026-000008832" title: "Two cup vacuum gripper, two outlet manifold, two stage ejector, manifold pressure sensor, vented after set-down" published_at: "2026-09-17T08:10:55.823363Z" canonical_url: "https://opentechnical.org/p/OT-2026-000008832" 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: - "discrete suction cup tool" - "mounting flange" - "suction cup" - "ejector" - "manifold" - "pressure sensor" - "vent valve" - "compressed air supply" - "pressure sensing" - "release control" --- # Two cup vacuum gripper, two outlet manifold, two stage ejector, manifold pressure sensor, vented after set-down ## Abstract A suction-cup vacuum gripping tool comprising one mounting flange, two suction cups, one ejector, one manifold, one pressure sensor and one vent valve. When the suction cups reach the workpiece, the suction cups are 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 suction-cup vacuum gripping tool: two suction cups carried on a mounting flange, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves and controlling the moment of release. 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] **Two suction cups.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of two follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the flat form. [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] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets. [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 at the manifold. [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 suction cups are carried on the tool side of the mounting flange. [0009] The manifold is fixed to the tool side of the mounting flange. [0010] The ejector is fixed to the tool side of the mounting flange. [0011] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0012] Each manifold outlet feeds one suction cup by its own vacuum line, so that the two outlets feed two suction cups. [0013] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0014] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0015] The robot side of the mounting flange is bolted to the robot flange. [0016] The ejector is fed from the compressed air supply of the cell. [0017] The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller. ## 3. Operating sequence and conditions - When the suction cups reach the workpiece, the suction cups are 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 vacuum circuit is vented by the vent valve. - The workpiece is held until the vent valve has opened the circuit. [0023] The cell controller reads the pressure sensor (the manifold) and commands the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: form of the suction cups: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: two (sets how many lines can be fed from one inlet); placement of the pressure sensor: at the manifold (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). [0025] 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 [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 US-10549431-B2, US-11427405-B1, US-2016214812-A1, US-8006968-B2, WO-2008134339-A4; 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-2026-000004511, 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: release element added: a vent valve after set-down (the legacy assembly had no way to let go); suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. OPENTECHNICAL PUBLICATION OT-2026-000008832 Two cup vacuum gripper, two outlet manifold, two stage ejector, manifold pressure sensor, vented after set-down Published: 2026-09-17T08:10:55.823363Z Permanent URL: https://opentechnical.org/p/OT-2026-000008832 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A suction-cup vacuum gripping tool comprising one mounting flange, two suction cups, one ejector, one manifold, one pressure sensor and one vent valve. When the suction cups reach the workpiece, the suction cups are 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 suction-cup vacuum gripping tool: two suction cups carried on a mounting flange, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves and controlling the moment of release. 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] Two suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of two follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the flat form. [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] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets. [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 at the manifold. [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 suction cups are carried on the tool side of the mounting flange. [0009] The manifold is fixed to the tool side of the mounting flange. [0010] The ejector is fixed to the tool side of the mounting flange. [0011] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0012] Each manifold outlet feeds one suction cup by its own vacuum line, so that the two outlets feed two suction cups. [0013] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0014] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0015] The robot side of the mounting flange is bolted to the robot flange. [0016] The ejector is fed from the compressed air supply of the cell. [0017] The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller. 3. Operating sequence and conditions [0018] - When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. [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 vacuum circuit is vented by the vent valve. [0022] - The workpiece is held until the vent valve has opened the circuit. [0023] The cell controller reads the pressure sensor (the manifold) and commands the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: form of the suction cups: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: two (sets how many lines can be fed from one inlet); placement of the pressure sensor: at the manifold (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). [0025] 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 [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 US-10549431-B2, US-11427405-B1, US-2016214812-A1, US-8006968-B2, WO-2008134339-A4; 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-2026-000004511, 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: release element added: a vent valve after set-down (the legacy assembly had no way to let go); suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000008832 Published 2026-09-17T08:10:55.823363Z https://opentechnical.org/p/OT-2026-000008832 { "abstract": "A suction-cup vacuum gripping tool comprising one mounting flange, two suction cups, one ejector, one manifold, one pressure sensor and one vent valve. When the suction cups reach the workpiece, the suction cups are 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-2026-000004512. The earlier publication remains publicly accessible and unchanged.

OT-2026-000008833

Six cup vacuum gripper, six outlet manifold, common isolation valve, pump fed, manifold pressure sensor, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:10:55 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000008833
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Valves and Manifolds
Document SHA-256: ddea4bf6edd3a4709b2da98360200469daa607fac361c4c8457a43d1bd3282cd

Abstract

A suction-cup vacuum gripping tool comprising one tool-change interface, six suction cups, one vacuum pump, one isolation valve, one manifold, one pressure sensor, one contact detector and one vent valve. When the suction cups reach the workpiece, the suction cups are 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 suction-cup vacuum gripping tool: six suction cups carried on a tool-change interface, fed by a vacuum pump. It is arranged for cutting part of the circuit while the rest holds vacuum, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, controlling the moment of release 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.