Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down

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OT-2026-000057748

Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down

Published: September 17, 2026 at 08:42:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000057748
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Generation, Vacuum Safety Systems
Document SHA-256: a104e3b4bff92866b29d75fa277f62425583c3f416c657c4227ca7eebb988415

Abstract

A bellows-cup vacuum gripping tool comprising one mounting flange, one bellows cup, one ejector, one contact detector and one blow-off valve. When the bellows cup reaches the workpiece, the bellows 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 bellows-cup vacuum gripping tool: one bellows cup carried on a mounting flange, fed by an ejector. It is arranged for starting the cycle at the moment of contact, clearing the face at release and taking up height differences at the face. 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 bellows cup. Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. 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 three stages.

[0005]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.

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

[0007]The bellows cup is carried on the tool side of the mounting flange.

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

[0009]The bellows cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line.

[0010]The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face.

[0011]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.

[0012]The robot side of the mounting flange is bolted to the robot flange.

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

[0014]The blow-off valve is fed from the compressed air supply of the cell.

[0015]The blow-off valve is switched by the cell controller; the contact detector reports to the cell controller.

3. Operating sequence and conditions

[0016]

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

[0017]

When the bellows cup reaches the workpiece, the bellows cup is 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 reads the contact detector (on the gripping face) and commands the blow-off valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0021]Parameter values of this embodiment: folds of the bellows cup: 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 cup: plastic (sets the friction at the lip and the resistance of the folds to fatigue); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); 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: after set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[0022]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

[0023]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4489564-B1, US-10549431-B2, 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.

Publication information

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Citation

OpenTechnical Publication OT-2026-000057748, “Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down,” published September 17, 2026 at 08:42:52 UTC, https://opentechnical.org/p/OT-2026-000057748.

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-2026-000057748" title: "Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down" published_at: "2026-09-17T08:42:52.020108Z" canonical_url: "https://opentechnical.org/p/OT-2026-000057748" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/position-and-presence-sensing" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" - "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" keywords: - "bellows compliant vacuum tool" - "mounting flange" - "bellows cup" - "ejector" - "contact detector" - "blow-off valve" - "blow off release" - "compressed air supply" - "contact sensing" - "release control" --- # Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down ## Abstract A bellows-cup vacuum gripping tool comprising one mounting flange, one bellows cup, one ejector, one contact detector and one blow-off valve. When the bellows cup reaches the workpiece, the bellows 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 bellows-cup vacuum gripping tool: one bellows cup carried on a mounting flange, fed by an ejector. It is arranged for starting the cycle at the moment of contact, clearing the face at release and taking up height differences at the face. 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 bellows cup.** Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. 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 three stages. [0005] **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. [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 sustained blast. The blow-off pulse is given after set-down. [0007] The bellows cup is carried on the tool side of the mounting flange. [0008] The ejector is fixed to the tool side of the mounting flange. [0009] The bellows cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line. [0010] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0011] 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. [0012] The robot side of the mounting flange is bolted to the robot flange. [0013] The ejector is fed from the compressed air supply of the cell. [0014] The blow-off valve is fed from the compressed air supply of the cell. [0015] The blow-off valve is switched by the cell controller; the contact detector reports to the cell controller. ## 3. Operating sequence and conditions - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. - When the bellows cup reaches the workpiece, the bellows 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 workpiece is held until the blow-off valve has opened the circuit. [0020] The cell controller reads the contact detector (on the gripping face) and commands the blow-off valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0021] Parameter values of this embodiment: folds of the bellows cup: 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 cup: plastic (sets the friction at the lip and the resistance of the folds to fatigue); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); 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: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0022] 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 [0023] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4489564-B1, US-10549431-B2, 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. OPENTECHNICAL PUBLICATION OT-2026-000057748 Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down Published: 2026-09-17T08:42:52.020108Z Permanent URL: https://opentechnical.org/p/OT-2026-000057748 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A bellows-cup vacuum gripping tool comprising one mounting flange, one bellows cup, one ejector, one contact detector and one blow-off valve. When the bellows cup reaches the workpiece, the bellows 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 bellows-cup vacuum gripping tool: one bellows cup carried on a mounting flange, fed by an ejector. It is arranged for starting the cycle at the moment of contact, clearing the face at release and taking up height differences at the face. 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 bellows cup. Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. 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 three stages. [0005] 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. [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 sustained blast. The blow-off pulse is given after set-down. [0007] The bellows cup is carried on the tool side of the mounting flange. [0008] The ejector is fixed to the tool side of the mounting flange. [0009] The bellows cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line. [0010] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0011] 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. [0012] The robot side of the mounting flange is bolted to the robot flange. [0013] The ejector is fed from the compressed air supply of the cell. [0014] The blow-off valve is fed from the compressed air supply of the cell. [0015] The blow-off valve is switched by the cell controller; the contact detector reports to the cell controller. 3. Operating sequence and conditions [0016] - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. [0017] - When the bellows cup reaches the workpiece, the bellows cup is 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 reads the contact detector (on the gripping face) and commands the blow-off valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0021] Parameter values of this embodiment: folds of the bellows cup: 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 cup: plastic (sets the friction at the lip and the resistance of the folds to fatigue); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); 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: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0022] 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 [0023] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4489564-B1, US-10549431-B2, 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. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000057748 Published 2026-09-17T08:42:52.020108Z https://opentechnical.org/p/OT-2026-000057748 { "abstract": "A bellows-cup vacuum gripping tool comprising one mounting flange, one bellows cup, one ejector, one contact detector and one blow-off valve. When the bellows cup reaches the workpiece, the bellows 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-2026-000057748", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "sensors-controls-machine-vision/position-and-presence-sensing", "industrial-motion-power-transmission/fluid-power/vacuum-generation", "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" ], "extent": { "figures": 0, "paragraphs": 23, "words": 793 }, "figures": [], "files": [ { "bytes": 15869, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "c5da2eed577079941967536f42a7347fb4609775c48cc09c5bb35cd90781ae72" }, { "bytes": 6023, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "3a0c85e9c9236f43dd4c0bce5dbcd7ea544724864111c40f594cca7068b6f2a5" }, { "bytes": 5735, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "a104e3b4bff92866b29d75fa277f62425583c3f416c657c4227ca7eebb988415" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000057748/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "bellows compliant vacuum tool", "mounting flange", "bellows cup", "ejector", "contact detector", "blow-off valve", "blow off release", "compressed air supply", "contact sensing", "release control" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000057748", "published_at": "2026-09-17T08:42:52.020108Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": null, "title": "Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down", "uuid": "01a0ae88-6ed7-7c7c-9fb3-0e466a63ee4f" } fMuImkD8EJ1rbZt1lZ8Qjm3ISR8+b7QHp/6bHKA8/8IMRHxMEs8Atg4Uicug6JCQN+1mdHQnh9juSZG+ANSFCw== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: fMuImkD8EJ1rbZt1lZ8Qjm3ISR8+b7QHp/6bHKA8/8IMRHxMEs8Atg4Uicug6JCQN+1mdHQnh9juSZG+ANSFCw== {"files":[{"bytes":18338,"name":"index.html","sha256":"9668c52edf1dd25e3e70604368bab6da25c9f7f246330ebb7564ea6489a53de4"},{"bytes":7954,"name":"publication.md","sha256":"af3c4f7c70aaa2b327b85ce395ed5204396641865e4871d6fbb589df0a26fd72"},{"bytes":7632,"name":"publication.txt","sha256":"f2ff2b818745de056fc49c26d9173bbe4899c119604f6975c7262761951929f4"},{"bytes":2857,"name":"manifest.json","sha256":"d89f196f579aa793497e518221fbb70c3b0b1d596bb063ce4ae6411edd27d45c"},{"bytes":89,"name":"manifest.sig","sha256":"267dc29d3d2367038cb7df5690f7c27888d6177ea3f0511b8e28c176eff6b80c"},{"bytes":227,"name":"manifest.sig.txt","sha256":"2c3624830e5f66e9f4c5319d9b7254fe2167f7e434efc192320be332c53cdf94"}],"publication_id":"OT-2026-000057749"} Two cup vacuum gripper, two outlet manifold, three stage ejector, supply line pressure sensor, vented before set-down, on a tool changer - OpenTechnical OT-2026-000057749

OT-2026-000057749

Two cup vacuum gripper, two outlet manifold, three stage ejector, supply line pressure sensor, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:42:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000057749
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Valves and Manifolds
Document SHA-256: f2ff2b818745de056fc49c26d9173bbe4899c119604f6975c7262761951929f4

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 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 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, 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 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 flat form.

[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 in the supply line.

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

[0008]One 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 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 line between the ejector and the distribution and reads the pressure of the whole circuit.

[0015]The contact detector is mounted on the frame 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 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

[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 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 common supply line) and the contact detector (on the frame) 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); 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: two (sets how many lines can be fed from one inlet); 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); 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 US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000057749, “Two cup vacuum gripper, two outlet manifold, three stage ejector, supply line pressure sensor, vented before set-down, on a tool changer,” published September 17, 2026 at 08:42:52 UTC, https://opentechnical.org/p/OT-2026-000057749.

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

Terms

--- publication_id: "OT-2026-000057749" title: "Two cup vacuum gripper, two outlet manifold, three stage ejector, supply line pressure sensor, vented before set-down, on a tool changer" published_at: "2026-09-17T08:42:52.020108Z" canonical_url: "https://opentechnical.org/p/OT-2026-000057749" 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" - "vent valve" - "compressed air supply" - "contact sensing" --- # Two cup vacuum gripper, two outlet manifold, three stage ejector, supply line pressure sensor, vented before 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 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 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, 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 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 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 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 in the supply line. [0007] **One contact detector.** The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0008] **One 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 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 line between the ejector and the distribution and reads the pressure of the whole circuit. [0015] The contact detector is mounted on the frame 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 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 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. [0026] The cell controller reads the pressure sensor (the common supply line) and the contact detector (on the frame) 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); 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: two (sets how many lines can be fed from one inlet); 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); 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 US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. OPENTECHNICAL PUBLICATION OT-2026-000057749 Two cup vacuum gripper, two outlet manifold, three stage ejector, supply line pressure sensor, vented before set-down, on a tool changer Published: 2026-09-17T08:42:52.020108Z Permanent URL: https://opentechnical.org/p/OT-2026-000057749 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 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 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, 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 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 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 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 in the supply line. [0007] One contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0008] One 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 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 line between the ejector and the distribution and reads the pressure of the whole circuit. [0015] The contact detector is mounted on the frame 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 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 [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 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 common supply line) and the contact detector (on the frame) 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); 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: two (sets how many lines can be fed from one inlet); 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); 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 US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000057749 Published 2026-09-17T08:42:52.020108Z https://opentechnical.org/p/OT-2026-000057749 { "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 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-2026-000057749", "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": 31, "words": 1085 }, "figures": [], "files": [ { "bytes": 18338, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "9668c52edf1dd25e3e70604368bab6da25c9f7f246330ebb7564ea6489a53de4" }, { "bytes": 7954, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "af3c4f7c70aaa2b327b85ce395ed5204396641865e4871d6fbb589df0a26fd72" }, { "bytes": 7632, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "f2ff2b818745de056fc49c26d9173bbe4899c119604f6975c7262761951929f4" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000057749/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", "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-2026-000057749", "published_at": "2026-09-17T08:42:52.020108Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": null, "title": "Two cup vacuum gripper, two outlet manifold, three stage ejector, supply line pressure sensor, vented before set-down, on a tool changer", "uuid": "01a0ae88-6ed7-7eee-8de9-c34f3b01b022" } IWRdpmmtevSjH3WEHi/vPh+YW7mU4WsoiclISTWb8z+9lw+7EH4AIlt+eRFOlqzjHKAWyCQ/dF7nh/F9o93CDw== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: IWRdpmmtevSjH3WEHi/vPh+YW7mU4WsoiclISTWb8z+9lw+7EH4AIlt+eRFOlqzjHKAWyCQ/dF7nh/F9o93CDw== {"files":[{"bytes":19329,"name":"index.html","sha256":"eb53d14bd331f7e9a9972be0cae82aa29fbf6dd22666f0bc26ab815d7148ac94"},{"bytes":8666,"name":"publication.md","sha256":"f76f40bc7422d6ea9ebf11eb213a8000582f51b2328afa30119228716f164ddc"},{"bytes":8369,"name":"publication.txt","sha256":"72a5381576197e36bf6d6cdcec42c3befff769a3e9c39f93a2943ee0775ca47d"},{"bytes":2849,"name":"manifest.json","sha256":"0e80b74631b5e233af003f8a72d1af6839439c5ed6914082ba13d2f083626aaf"},{"bytes":89,"name":"manifest.sig","sha256":"ba6b48657aaef2efb2318ffff251597a1258b8160f55e90438de314d2a56afb8"},{"bytes":227,"name":"manifest.sig.txt","sha256":"db0eb1592661a6c1c4e0ab4dcd778e97bd86fe724385adbd279c2e5559d09b4b"}],"publication_id":"OT-2026-000057750"} Two pad foam vacuum gripper, two outlet manifold, common isolation valve, two stage ejector, manifold pressure sensor, vented before set-down - OpenTechnical OT-2026-000057750

OT-2026-000057750

Two pad foam vacuum gripper, two outlet manifold, common isolation valve, two stage ejector, manifold pressure sensor, vented before set-down

Published: September 17, 2026 at 08:42:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000057750
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Valves and Manifolds
Document SHA-256: 72a5381576197e36bf6d6cdcec42c3befff769a3e9c39f93a2943ee0775ca47d

Abstract

A foam-pad vacuum gripping tool comprising one mounting flange, two foam pads, one ejector, one isolation valve, one manifold, one pressure sensor, one contact detector and one vent valve. When the foam pads reach the workpiece, the foam pads 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 foam-pad vacuum gripping tool: two foam pads carried on a mounting flange, fed by an ejector. 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 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 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 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 foam pads are carried on the tool side of the mounting flange.

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

[0012]The ejector is fixed to the tool side of the mounting flange.

[0013]The isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply.

[0014]The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold.

[0015]Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads.

[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 line downstream of the isolation valve and opens that circuit to atmosphere when it is actuated.

[0019]The robot side of the mounting flange is bolted to the robot flange.

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

[0021]The isolation valve and the vent valve 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 foam pads reach the workpiece, the foam pads 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 vacuum level has exceeded the gripping threshold, the isolation valve is closed by the cell controller.

[0027]

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

[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 gripping face) and commands the isolation valve, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0031]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: 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; 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); 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 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.

[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 EP-4385681-B1, US-10163334-B1, US-10549431-B2, US-11427405-B1, US-2022339798-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000057750, “Two pad foam vacuum gripper, two outlet manifold, common isolation valve, two stage ejector, manifold pressure sensor, vented before set-down,” published September 17, 2026 at 08:42:52 UTC, https://opentechnical.org/p/OT-2026-000057750.

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

Terms

--- publication_id: "OT-2026-000057750" title: "Two pad foam vacuum gripper, two outlet manifold, common isolation valve, two stage ejector, manifold pressure sensor, vented before set-down" published_at: "2026-09-17T08:42:52.020108Z" canonical_url: "https://opentechnical.org/p/OT-2026-000057750" 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: - "foam area gripping tool" - "mounting flange" - "foam pad" - "ejector" - "isolation valve" - "manifold" - "pressure sensor" - "contact detector" - "vent valve" - "common isolation" --- # Two pad foam vacuum gripper, two outlet manifold, common isolation valve, two stage ejector, manifold pressure sensor, vented before set-down ## Abstract A foam-pad vacuum gripping tool comprising one mounting flange, two foam pads, one ejector, one isolation valve, one manifold, one pressure sensor, one contact detector and one vent valve. When the foam pads reach the workpiece, the foam pads 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 foam-pad vacuum gripping tool: two foam pads carried on a mounting flange, fed by an ejector. 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 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 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] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two 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 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 foam pads are carried on the tool side of the mounting flange. [0011] The manifold is fixed to the tool side of the mounting flange. [0012] The ejector is fixed to the tool side of the mounting flange. [0013] The isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0014] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0015] Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads. [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 line downstream of the isolation valve and opens that circuit to atmosphere when it is actuated. [0019] The robot side of the mounting flange is bolted to the robot flange. [0020] The ejector is fed from the compressed air supply of the cell. [0021] The isolation valve and the vent 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 foam pads reach the workpiece, the foam pads 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. [0030] The cell controller reads the pressure sensor (the manifold) and the contact detector (on the gripping face) and commands the isolation valve, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0031] 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: 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; 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); 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 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. [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 EP-4385681-B1, US-10163334-B1, US-10549431-B2, US-11427405-B1, US-2022339798-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. OPENTECHNICAL PUBLICATION OT-2026-000057750 Two pad foam vacuum gripper, two outlet manifold, common isolation valve, two stage ejector, manifold pressure sensor, vented before set-down Published: 2026-09-17T08:42:52.020108Z Permanent URL: https://opentechnical.org/p/OT-2026-000057750 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A foam-pad vacuum gripping tool comprising one mounting flange, two foam pads, one ejector, one isolation valve, one manifold, one pressure sensor, one contact detector and one vent valve. When the foam pads reach the workpiece, the foam pads 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 foam-pad vacuum gripping tool: two foam pads carried on a mounting flange, fed by an ejector. 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 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 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] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two 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 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 foam pads are carried on the tool side of the mounting flange. [0011] The manifold is fixed to the tool side of the mounting flange. [0012] The ejector is fixed to the tool side of the mounting flange. [0013] The isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0014] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0015] Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads. [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 line downstream of the isolation valve and opens that circuit to atmosphere when it is actuated. [0019] The robot side of the mounting flange is bolted to the robot flange. [0020] The ejector is fed from the compressed air supply of the cell. [0021] The isolation valve and the vent valve 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 foam pads reach the workpiece, the foam pads 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 vacuum level has exceeded the gripping threshold, the isolation valve is closed by the cell controller. [0027] - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. [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 gripping face) and commands the isolation valve, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0031] 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: 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; 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); 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 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. [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 EP-4385681-B1, US-10163334-B1, US-10549431-B2, US-11427405-B1, US-2022339798-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000057750 Published 2026-09-17T08:42:52.020108Z https://opentechnical.org/p/OT-2026-000057750 { "abstract": "A foam-pad vacuum gripping tool comprising one mounting flange, two foam pads, one ejector, one isolation valve, one manifold, one pressure sensor, one contact detector and one vent valve. When the foam pads reach the workpiece, the foam pads 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-2026-000057750", "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": 1216 }, "figures": [], "files": [ { "bytes": 19329, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "eb53d14bd331f7e9a9972be0cae82aa29fbf6dd22666f0bc26ab815d7148ac94" }, { "bytes": 8666, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "f76f40bc7422d6ea9ebf11eb213a8000582f51b2328afa30119228716f164ddc" }, { "bytes": 8369, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "72a5381576197e36bf6d6cdcec42c3befff769a3e9c39f93a2943ee0775ca47d" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000057750/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", "isolation valve", "manifold", "pressure sensor", "contact detector", "vent valve", "common isolation" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000057750", "published_at": "2026-09-17T08:42:52.020108Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": null, "title": "Two pad foam vacuum gripper, two outlet manifold, common isolation valve, two stage ejector, manifold pressure sensor, vented before set-down", "uuid": "01a0ae88-6ed7-7eec-8b80-8bcd9f853dcb" } qDSjNzCcq9irs0Fvhvrne93CYkR6xLFr4gbcyY+iqdFnmV62FgU3hqKjfGffr5BWVvlXbfv5pIiYEojMAIyrAA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: qDSjNzCcq9irs0Fvhvrne93CYkR6xLFr4gbcyY+iqdFnmV62FgU3hqKjfGffr5BWVvlXbfv5pIiYEojMAIyrAA== {"files":[{"bytes":20112,"name":"index.html","sha256":"4e7f5b8aa1c0e8c429530b9269309ab5656034faed5cfccd478df4e4b0d7196e"},{"bytes":9443,"name":"publication.md","sha256":"4424ac50b1c0425b6582ddfb836c81ff94bffec534929368435053f11509ef8b"},{"bytes":9084,"name":"publication.txt","sha256":"1593c6decde8cfef570cad8f0b1a85b0d174ba2b73bdab69c68847c401b74b10"},{"bytes":2941,"name":"manifest.json","sha256":"c8fbbb507fb2a92e72545688213f8bb4237e42745082f1bca58afbe121760842"},{"bytes":89,"name":"manifest.sig","sha256":"0aef9f90f2c9dbbeb018805f618c426b8f342f3127405788d740354ebff8c0ab"},{"bytes":227,"name":"manifest.sig.txt","sha256":"e73288fe8c0054beb3e8725dea2c859679c0637a2906f6c6ac6a79d706bc4074"}],"publication_id":"OT-2026-000057751"} Two bellows cup vacuum gripper, two zone face, four outlet manifold, plant vacuum fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer - OpenTechnical OT-2026-000057751

OT-2026-000057751

Two bellows cup vacuum gripper, two zone face, four outlet manifold, plant vacuum fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer

Published: September 17, 2026 at 08:42:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000057751
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Valves and Manifolds
Document SHA-256: 1593c6decde8cfef570cad8f0b1a85b0d174ba2b73bdab69c68847c401b74b10

Abstract

A zoned vacuum gripping tool comprising one tool-change interface, two bellows cups, one plant vacuum connection, one manifold, two zone branches, one pressure sensor, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows 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 zoned vacuum gripping tool: two bellows cups carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, clearing the face at 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 three folds.

[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 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 in the supply line.

[0009]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.

[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 manifold inlet is connected to the plant vacuum connection, 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 line between the plant vacuum connection and the distribution and reads the pressure of the whole circuit.

[0016]The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face.

[0017]The blow-off valve is connected to the circuit at the plant vacuum connection, so that compressed air can be driven back through the circuit to the face.

[0018]The robot side of the tool-change interface is bolted to the robot flange.

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

[0020]The blow-off valve is fed from the compressed air supply of the cell.

[0021]The locking piston of the tool-change interface is fed from the compressed air supply of the cell.

[0022]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

[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 plant vacuum connection.

[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 workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface.

[0028]

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

[0029]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 tool-change interface; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0030]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); 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: 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).

[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 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.

[0033]The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone.

[0034]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.

[0035]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

[0036]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-10259123-B2, US-11427405-B1, US-11858125-B2, US-2022339798-A1, US-8006968-B2, US-8132312-B2, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000057751, “Two bellows cup vacuum gripper, two zone face, four outlet manifold, plant vacuum fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer,” published September 17, 2026 at 08:42:52 UTC, https://opentechnical.org/p/OT-2026-000057751.

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

Terms

--- publication_id: "OT-2026-000057751" title: "Two bellows cup vacuum gripper, two zone face, four outlet manifold, plant vacuum fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer" published_at: "2026-09-17T08:42:52.020108Z" canonical_url: "https://opentechnical.org/p/OT-2026-000057751" 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" - "plant vacuum connection" - "manifold" - "zone branch" - "pressure sensor" - "contact detector" - "blow-off valve" - "blow off release" --- # Two bellows cup vacuum gripper, two zone face, four outlet manifold, plant vacuum fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, two bellows cups, one plant vacuum connection, one manifold, two zone branches, one pressure sensor, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows 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 zoned vacuum gripping tool: two bellows cups carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, clearing the face at 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] **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 three folds. [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 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 in the supply line. [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 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. [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 manifold inlet is connected to the plant vacuum connection, 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 line between the plant vacuum connection and the distribution and reads the pressure of the whole circuit. [0016] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0017] The blow-off valve is connected to the circuit at the plant vacuum connection, so that compressed air can be driven back through the circuit to the face. [0018] The robot side of the tool-change interface is bolted to the robot flange. [0019] The remaining two manifold outlets are plugged and carry no line. [0020] The blow-off valve is fed from the compressed air supply of the cell. [0021] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0022] 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 bellows cups reach the workpiece, the bellows cups are evacuated by the plant vacuum connection. - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. - The workpiece may not be lifted unless the pressure sensor signals a secure grip. - 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. [0029] 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 tool-change interface; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0030] 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); 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: 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). [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 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. [0033] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. [0034] 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. [0035] 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 [0036] 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-10259123-B2, US-11427405-B1, US-11858125-B2, US-2022339798-A1, US-8006968-B2, US-8132312-B2, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. OPENTECHNICAL PUBLICATION OT-2026-000057751 Two bellows cup vacuum gripper, two zone face, four outlet manifold, plant vacuum fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer Published: 2026-09-17T08:42:52.020108Z Permanent URL: https://opentechnical.org/p/OT-2026-000057751 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, two bellows cups, one plant vacuum connection, one manifold, two zone branches, one pressure sensor, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows 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 zoned vacuum gripping tool: two bellows cups carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for handling workpieces that do not cover the whole gripping face, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact, clearing the face at 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] 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 three folds. [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 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 in the supply line. [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 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. [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 manifold inlet is connected to the plant vacuum connection, 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 line between the plant vacuum connection and the distribution and reads the pressure of the whole circuit. [0016] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0017] The blow-off valve is connected to the circuit at the plant vacuum connection, so that compressed air can be driven back through the circuit to the face. [0018] The robot side of the tool-change interface is bolted to the robot flange. [0019] The remaining two manifold outlets are plugged and carry no line. [0020] The blow-off valve is fed from the compressed air supply of the cell. [0021] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0022] 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 [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 plant vacuum connection. [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 workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. [0028] - The workpiece is held until the blow-off valve has opened the circuit. [0029] 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 tool-change interface; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0030] 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); 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: 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). [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 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. [0033] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. [0034] 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. [0035] 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 [0036] 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-10259123-B2, US-11427405-B1, US-11858125-B2, US-2022339798-A1, US-8006968-B2, US-8132312-B2, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000057751 Published 2026-09-17T08:42:52.020108Z https://opentechnical.org/p/OT-2026-000057751 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, two bellows cups, one plant vacuum connection, one manifold, two zone branches, one pressure sensor, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows 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-2026-000057751", "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": 1317 }, "figures": [], "files": [ { "bytes": 20112, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "4e7f5b8aa1c0e8c429530b9269309ab5656034faed5cfccd478df4e4b0d7196e" }, { "bytes": 9443, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "4424ac50b1c0425b6582ddfb836c81ff94bffec534929368435053f11509ef8b" }, { "bytes": 9084, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "1593c6decde8cfef570cad8f0b1a85b0d174ba2b73bdab69c68847c401b74b10" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000057751/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "tool-change interface", "bellows cup", "plant vacuum connection", "manifold", "zone branch", "pressure sensor", "contact detector", "blow-off valve", "blow off release" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000057751", "published_at": "2026-09-17T08:42:52.020108Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": null, "title": "Two bellows cup vacuum gripper, two zone face, four outlet manifold, plant vacuum fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer", "uuid": "01a0ae88-6ed7-7cc1-a6e2-faaf9b849112" } 975yYFGHOh9rr+tzRTA0/V1/NS+gQ/3c76+1Go7P81QB2OFrzffnO92pvAAtHqP6WukpSDNCOPVGJE474a5LDA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: 975yYFGHOh9rr+tzRTA0/V1/NS+gQ/3c76+1Go7P81QB2OFrzffnO92pvAAtHqP6WukpSDNCOPVGJE474a5LDA== {"files":[{"bytes":16671,"name":"index.html","sha256":"3e1108efa1ba4117cfb77527fec5fd3e29640f4d1ebfdb0a5c9259915f39c2bb"},{"bytes":6715,"name":"publication.md","sha256":"ce67163c2787ef29c56e40b5baf1ee0bbb42c117f9ccea398f3a577915b258f8"},{"bytes":6424,"name":"publication.txt","sha256":"5a290c35ba4a19a5688474077d0ad35977cbe55d00988b06450d8d38daff1687"},{"bytes":2736,"name":"manifest.json","sha256":"4837a881094a353d3e1ca31caf45f4f9c116de15a7c06bdb9f7130befda49ab5"},{"bytes":89,"name":"manifest.sig","sha256":"4ba8ae4050b555f8acd27752d33d1d9d3b5ce179da50f95331f14ac0e53b99e7"},{"bytes":227,"name":"manifest.sig.txt","sha256":"d14b110909664e8c02d01079ce533b7990a1e710e14e9fed2f3ad45ab428fa00"}],"publication_id":"OT-2026-000057752"} Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down, on a tool changer - OpenTechnical OT-2026-000057752

OT-2026-000057752

Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down, on a tool changer

Published: September 17, 2026 at 08:42:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000057752
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Tool Changers, Vacuum Generation
Document SHA-256: 5a290c35ba4a19a5688474077d0ad35977cbe55d00988b06450d8d38daff1687

Abstract

A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector, one contact detector and one blow-off valve. When the bellows cup reaches the workpiece, the bellows 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 bellows-cup vacuum gripping tool: one bellows cup carried on a tool-change interface, fed by an ejector. It is arranged for starting the cycle at the moment of contact, clearing the face at 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]One bellows cup. Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. Each bellows cup has one fold.

[0007]The bellows cup is carried on the tool side of the tool-change interface.

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

[0009]The bellows cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line.

[0010]The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face.

[0011]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.

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

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

[0014]The blow-off valve is fed from the compressed air supply of the cell.

[0015]The locking piston of the tool-change interface is fed from the compressed air supply of the cell.

[0016]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

[0017]

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

[0018]

When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector.

[0019]

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

[0020]

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

[0021]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

[0022]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 cup: 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 cup: plastic (sets the friction at the lip and the resistance of the folds to fatigue); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); 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: after set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[0023]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.

[0024]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

[0025]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4489564-B1, US-11858125-B2, 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.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000057752, “Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down, on a tool changer,” published September 17, 2026 at 08:42:52 UTC, https://opentechnical.org/p/OT-2026-000057752.

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

Terms

--- publication_id: "OT-2026-000057752" title: "Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down, on a tool changer" published_at: "2026-09-17T08:42:52.020108Z" canonical_url: "https://opentechnical.org/p/OT-2026-000057752" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/position-and-presence-sensing" - "robotics-automation/end-effectors/tool-changers" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" keywords: - "bellows compliant vacuum tool" - "tool-change interface" - "bellows cup" - "ejector" - "contact detector" - "blow-off valve" - "blow off release" - "compressed air supply" - "contact sensing" - "release control" --- # Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down, on a tool changer ## Abstract A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector, one contact detector and one blow-off valve. When the bellows cup reaches the workpiece, the bellows 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 bellows-cup vacuum gripping tool: one bellows cup carried on a tool-change interface, fed by an ejector. It is arranged for starting the cycle at the moment of contact, clearing the face at 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] **One bellows cup.** Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. 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 three stages. [0005] **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. [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 sustained blast. The blow-off pulse is given after set-down. [0007] The bellows cup is carried on the tool side of the tool-change interface. [0008] The ejector is fixed to the tool side of the tool-change interface. [0009] The bellows cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line. [0010] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0011] 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. [0012] The robot side of the tool-change interface is bolted to the robot flange. [0013] The ejector is fed from the compressed air supply of the cell. [0014] The blow-off valve is fed from the compressed air supply of the cell. [0015] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0016] 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 bellows cup reaches the workpiece, the bellows 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 workpiece is held until the blow-off valve has opened the circuit. [0021] 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 [0022] 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 cup: 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 cup: plastic (sets the friction at the lip and the resistance of the folds to fatigue); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); 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: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0023] 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. [0024] 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 [0025] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4489564-B1, US-11858125-B2, 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. OPENTECHNICAL PUBLICATION OT-2026-000057752 Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down, on a tool changer Published: 2026-09-17T08:42:52.020108Z Permanent URL: https://opentechnical.org/p/OT-2026-000057752 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector, one contact detector and one blow-off valve. When the bellows cup reaches the workpiece, the bellows 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 bellows-cup vacuum gripping tool: one bellows cup carried on a tool-change interface, fed by an ejector. It is arranged for starting the cycle at the moment of contact, clearing the face at 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] One bellows cup. Each bellows cup is folded so that it shortens under vacuum and takes up a height difference between the face and the workpiece. 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 three stages. [0005] 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. [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 sustained blast. The blow-off pulse is given after set-down. [0007] The bellows cup is carried on the tool side of the tool-change interface. [0008] The ejector is fixed to the tool side of the tool-change interface. [0009] The bellows cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line. [0010] The contact detector is mounted on the gripping face and reports the moment a workpiece is present against the gripping face. [0011] 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. [0012] The robot side of the tool-change interface is bolted to the robot flange. [0013] The ejector is fed from the compressed air supply of the cell. [0014] The blow-off valve is fed from the compressed air supply of the cell. [0015] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0016] 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 [0017] - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. [0018] - When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector. [0019] - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. [0020] - The workpiece is held until the blow-off valve has opened the circuit. [0021] 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 [0022] 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 cup: 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 cup: plastic (sets the friction at the lip and the resistance of the folds to fatigue); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); 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: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0023] 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. [0024] 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 [0025] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4489564-B1, US-11858125-B2, 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. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000057752 Published 2026-09-17T08:42:52.020108Z https://opentechnical.org/p/OT-2026-000057752 { "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector, one contact detector and one blow-off valve. When the bellows cup reaches the workpiece, the bellows 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-2026-000057752", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "sensors-controls-machine-vision/position-and-presence-sensing", "robotics-automation/end-effectors/tool-changers", "industrial-motion-power-transmission/fluid-power/vacuum-generation" ], "extent": { "figures": 0, "paragraphs": 25, "words": 899 }, "figures": [], "files": [ { "bytes": 16671, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "3e1108efa1ba4117cfb77527fec5fd3e29640f4d1ebfdb0a5c9259915f39c2bb" }, { "bytes": 6715, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "ce67163c2787ef29c56e40b5baf1ee0bbb42c117f9ccea398f3a577915b258f8" }, { "bytes": 6424, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "5a290c35ba4a19a5688474077d0ad35977cbe55d00988b06450d8d38daff1687" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000057752/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "bellows compliant vacuum tool", "tool-change interface", "bellows cup", "ejector", "contact detector", "blow-off valve", "blow off release", "compressed air supply", "contact sensing", "release control" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000057752", "published_at": "2026-09-17T08:42:52.020108Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": null, "title": "Single bellows cup vacuum gripper, three stage ejector, sustained blow-off after set-down, on a tool changer", "uuid": "01a0ae88-6ed7-7cf0-bde8-9c37e486e61e" } 2MYpqHg/VfOJmE+U1v8qtOmNpBW5QUmW+fJPrv1gb3aascDUmU4nkZCkxro4Ckou3A8KuJJx52V0VWBbv9x1DA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: 2MYpqHg/VfOJmE+U1v8qtOmNpBW5QUmW+fJPrv1gb3aascDUmU4nkZCkxro4Ckou3A8KuJJx52V0VWBbv9x1DA== {"files":[{"bytes":17753,"name":"index.html","sha256":"2e9acfca280f5cf5f0700497bf2424d67522ae68a78325f5c2d6e4ae8162de4c"},{"bytes":7444,"name":"publication.md","sha256":"fe676b7b26c64986c8c280395c4e8a5dc5f15a7b0d7fe1ca1f6a4d7c773a6c78"},{"bytes":7147,"name":"publication.txt","sha256":"175bc4b2679e944d47f48b1eaa2786d93ff7f2fb52cd04379166e2287dcd06f4"},{"bytes":2826,"name":"manifest.json","sha256":"73192976625472255f92d8cba890cafe479480165ec6b77b9fc68657d482db6b"},{"bytes":89,"name":"manifest.sig","sha256":"804537f4178019302b2dac9f4d924f46dc14680079bf60b99c220aab38ce2908"},{"bytes":227,"name":"manifest.sig.txt","sha256":"5b7ae73362276bac21a29e5bcd65c8bdb4b0598a9329487b2b91a8e85fe8f61d"}],"publication_id":"OT-2026-000057753"} Two cup vacuum gripper, two outlet manifold, three stage ejector, supply line pressure sensor, vented before set-down - OpenTechnical OT-2026-000057753

OT-2026-000057753

Two cup vacuum gripper, two outlet manifold, three stage ejector, supply line pressure sensor, vented before set-down

Published: September 17, 2026 at 08:42:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000057753
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Valves and Manifolds
Document SHA-256: 175bc4b2679e944d47f48b1eaa2786d93ff7f2fb52cd04379166e2287dcd06f4

Abstract

A suction-cup vacuum gripping tool comprising one mounting flange, two suction cups, one ejector, 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 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 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, starting the cycle at the moment of contact 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 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 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 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 line between the ejector and the distribution and reads the pressure of the whole circuit.

[0015]The contact detector is mounted on the frame 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 mounting flange is bolted to the robot flange.

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

[0019]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

[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 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 common supply line) and the contact detector (on the frame) and commands the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0027]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); outlets of the manifold: two (sets how many lines can be fed from one inlet); 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); 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]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 US-10549431-B2, US-11427405-B1, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000057753, “Two cup vacuum gripper, two outlet manifold, three stage ejector, supply line pressure sensor, vented before set-down,” published September 17, 2026 at 08:42:52 UTC, https://opentechnical.org/p/OT-2026-000057753.

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

Terms

--- publication_id: "OT-2026-000057753" title: "Two cup vacuum gripper, two outlet manifold, three stage ejector, supply line pressure sensor, vented before set-down" published_at: "2026-09-17T08:42:52.020108Z" canonical_url: "https://opentechnical.org/p/OT-2026-000057753" 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" - "mounting flange" - "suction cup" - "ejector" - "manifold" - "pressure sensor" - "contact detector" - "vent valve" - "compressed air supply" - "contact sensing" --- # Two cup vacuum gripper, two outlet manifold, three stage ejector, supply line pressure sensor, vented before set-down ## Abstract A suction-cup vacuum gripping tool comprising one mounting flange, two suction cups, one ejector, 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 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 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, starting the cycle at the moment of contact 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 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 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 in the supply line. [0007] **One contact detector.** The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0008] **One 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 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 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 line between the ejector and the distribution and reads the pressure of the whole circuit. [0015] The contact detector is mounted on the frame 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 mounting flange is bolted to the robot flange. [0018] The ejector is fed from the compressed air supply of the cell. [0019] 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 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. [0026] The cell controller reads the pressure sensor (the common supply line) and the contact detector (on the frame) and commands the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0027] 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); outlets of the manifold: two (sets how many lines can be fed from one inlet); 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); 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] 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 US-10549431-B2, US-11427405-B1, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. OPENTECHNICAL PUBLICATION OT-2026-000057753 Two cup vacuum gripper, two outlet manifold, three stage ejector, supply line pressure sensor, vented before set-down Published: 2026-09-17T08:42:52.020108Z Permanent URL: https://opentechnical.org/p/OT-2026-000057753 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, 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 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, starting the cycle at the moment of contact 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 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 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 in the supply line. [0007] One contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0008] One 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 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 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 line between the ejector and the distribution and reads the pressure of the whole circuit. [0015] The contact detector is mounted on the frame 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 mounting flange is bolted to the robot flange. [0018] The ejector is fed from the compressed air supply of the cell. [0019] 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 [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 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 common supply line) and the contact detector (on the frame) and commands the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0027] 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); outlets of the manifold: two (sets how many lines can be fed from one inlet); 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); 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] 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 US-10549431-B2, US-11427405-B1, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000057753 Published 2026-09-17T08:42:52.020108Z https://opentechnical.org/p/OT-2026-000057753 { "abstract": "A suction-cup vacuum gripping tool comprising one mounting flange, two suction cups, one ejector, 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 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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OT-2026-000057754

Two pad foam vacuum gripper, two outlet manifold, common isolation valve, two stage ejector, manifold pressure sensor, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:42:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000057754
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Valves and Manifolds
Document SHA-256: 86ac5dd5605eb3fec829bfcc67ed5b709b33784fba822e592195b79156fb85e4

Abstract

A foam-pad vacuum gripping tool comprising one tool-change interface, two foam pads, one ejector, one isolation valve, one manifold, one pressure sensor, one contact detector and one vent valve. When the foam pads reach the workpiece, the foam pads 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 foam-pad vacuum gripping tool: two foam pads carried on a tool-change interface, fed by an ejector. 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, 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

[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 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 foam pads 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 isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply.

[0014]The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold.

[0015]Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads.

[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 line downstream of the isolation valve 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 locking piston of the tool-change interface is fed from the compressed air supply of the cell.

[0022]The isolation valve, 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

[0023]

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

[0024]

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

[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]

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

[0028]

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

[0029]

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.

[0030]

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

[0031]The cell controller reads the pressure sensor (the manifold) and the contact detector (on the gripping face) and commands the isolation valve, the tool-change interface, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0032]Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam 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: 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; 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); 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).

[0033]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.

[0034]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.

[0035]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.

[0036]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

[0037]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-10163334-B1, US-11427405-B1, US-11858125-B2, US-2022339798-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000057754, “Two pad foam vacuum gripper, two outlet manifold, common isolation valve, two stage ejector, manifold pressure sensor, vented before set-down, on a tool changer,” published September 17, 2026 at 08:42:52 UTC, https://opentechnical.org/p/OT-2026-000057754.

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Terms

--- publication_id: "OT-2026-000057754" title: "Two pad foam vacuum gripper, two outlet manifold, common isolation valve, two stage ejector, manifold pressure sensor, vented before set-down, on a tool changer" published_at: "2026-09-17T08:42:52.020108Z" canonical_url: "https://opentechnical.org/p/OT-2026-000057754" 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: - "foam area gripping tool" - "tool-change interface" - "foam pad" - "ejector" - "isolation valve" - "manifold" - "pressure sensor" - "contact detector" - "vent valve" - "common isolation" --- # Two pad foam vacuum gripper, two outlet manifold, common isolation valve, two stage ejector, manifold pressure sensor, vented before set-down, on a tool changer ## Abstract A foam-pad vacuum gripping tool comprising one tool-change interface, two foam pads, one ejector, one isolation valve, one manifold, one pressure sensor, one contact detector and one vent valve. When the foam pads reach the workpiece, the foam pads 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 foam-pad vacuum gripping tool: two foam pads carried on a tool-change interface, fed by an ejector. 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, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] **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 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] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two 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 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 foam pads 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 isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0014] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0015] Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads. [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 line downstream of the isolation valve 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 locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0022] The isolation valve, 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 foam pads reach the workpiece, the foam pads 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. [0031] The cell controller reads the pressure sensor (the manifold) and the contact detector (on the gripping face) and commands the isolation valve, the tool-change interface, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0032] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam 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: 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; 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); 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). [0033] 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. [0034] 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. [0035] 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. [0036] 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 [0037] 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-10163334-B1, US-11427405-B1, US-11858125-B2, US-2022339798-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. OPENTECHNICAL PUBLICATION OT-2026-000057754 Two pad foam vacuum gripper, two outlet manifold, common isolation valve, two stage ejector, manifold pressure sensor, vented before set-down, on a tool changer Published: 2026-09-17T08:42:52.020108Z Permanent URL: https://opentechnical.org/p/OT-2026-000057754 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A foam-pad vacuum gripping tool comprising one tool-change interface, two foam pads, one ejector, one isolation valve, one manifold, one pressure sensor, one contact detector and one vent valve. When the foam pads reach the workpiece, the foam pads 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 foam-pad vacuum gripping tool: two foam pads carried on a tool-change interface, fed by an ejector. 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, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] 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 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] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two 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 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 foam pads 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 isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0014] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0015] Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads. [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 line downstream of the isolation valve 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 locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0022] The isolation valve, 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 [0023] - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. [0024] - When the foam pads reach the workpiece, the foam pads are evacuated by the ejector. [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] - After the vacuum level has exceeded the gripping threshold, the isolation valve is closed by the cell controller. [0028] - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. [0029] - 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. [0030] - The workpiece is held until the vent valve has opened the circuit. [0031] The cell controller reads the pressure sensor (the manifold) and the contact detector (on the gripping face) and commands the isolation valve, the tool-change interface, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0032] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam 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: 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; 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); 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). [0033] 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. [0034] 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. [0035] 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. [0036] 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 [0037] 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-10163334-B1, US-11427405-B1, US-11858125-B2, US-2022339798-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000057754 Published 2026-09-17T08:42:52.020108Z https://opentechnical.org/p/OT-2026-000057754 { "abstract": "A foam-pad vacuum gripping tool comprising one tool-change interface, two foam pads, one ejector, one isolation valve, one manifold, one pressure sensor, one contact detector and one vent valve. When the foam pads reach the workpiece, the foam pads 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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OT-2026-000057755

Two bellows cup vacuum gripper, two zone face, four outlet manifold, plant vacuum fed, supply line pressure sensor, pulsed blow-off before set-down, on a tool changer

Published: September 17, 2026 at 08:42:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000057755
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Valves and Manifolds
Document SHA-256: 81eae3f10d977e4894278a8e9297b61c4b8488a5a76471066ac79b496b89050f