Single bellows cup vacuum gripper, three stage ejector, supply line pressure sensor, sustained blow-off before set-down

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This publication supersedes OT-2026-000006030. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010312

Single bellows cup vacuum gripper, three stage ejector, supply line pressure sensor, sustained blow-off before set-down

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010312
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Vacuum Generation, Vacuum Safety Systems
Document SHA-256: 07e24a70bbd068774286cb8894869ef362f1683ac592c2bf7ced79f0bb534967

Abstract

A bellows-cup vacuum gripping tool comprising one mounting flange, one bellows cup, one ejector, one pressure sensor and one blow-off valve. When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector. 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 bellows-cup vacuum gripping tool: one bellows cup carried on a mounting flange, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, 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 three folds.

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

[0005]One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line.

[0006]One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a sustained blast. The blow-off pulse is given before set-down.

[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 pressure sensor is tapped into the line between the ejector and the bellows cup and reads the pressure of the whole circuit.

[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 pressure sensor reports to the cell controller.

3. Operating sequence and conditions

[0016]

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

[0017]

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

[0018]

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

[0019]

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.

[0020]

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

[0021]The cell controller reads the pressure sensor (the common supply line) and commands the blow-off valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0022]Parameter values of this embodiment: folds of the bellows cup: 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 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 pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[0023]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.

[0024]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.

[0025]Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference.

5. Provenance and status

[0026]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4489564-B1, US-10549431-B2, US-11427405-B1, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0027]This publication supersedes OT-2026-000006030, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: sensor placement moved from an absent manifold to the supply line.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010312, “Single bellows cup vacuum gripper, three stage ejector, supply line pressure sensor, sustained blow-off before set-down,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010312.

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-2026-000010312" title: "Single bellows cup vacuum gripper, three stage ejector, supply line pressure sensor, sustained blow-off before set-down" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010312" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors" - "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" - "pressure sensor" - "blow-off valve" - "blow off release" - "compressed air supply" - "drop release" - "pressure sensing" --- # Single bellows cup vacuum gripper, three stage ejector, supply line pressure sensor, sustained blow-off before set-down ## Abstract A bellows-cup vacuum gripping tool comprising one mounting flange, one bellows cup, one ejector, one pressure sensor and one blow-off valve. When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector. 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 bellows-cup vacuum gripping tool: one bellows cup carried on a mounting flange, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, 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 three folds. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has three stages. [0005] **One pressure sensor.** The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0006] **One blow-off valve.** The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a sustained blast. The blow-off pulse is given before set-down. [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 pressure sensor is tapped into the line between the ejector and the bellows cup and reads the pressure of the whole circuit. [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 pressure sensor reports to the cell controller. ## 3. Operating sequence and conditions - When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector. - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. - The workpiece may not be lifted unless the pressure sensor signals a secure grip. - 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. [0021] The cell controller reads the pressure sensor (the common supply line) and commands the blow-off valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0022] Parameter values of this embodiment: folds of the bellows cup: 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 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 pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0023] 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. [0024] 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. [0025] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. ## 5. Provenance and status [0026] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4489564-B1, US-10549431-B2, US-11427405-B1, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0027] This publication supersedes OT-2026-000006030, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: sensor placement moved from an absent manifold to the supply line. OPENTECHNICAL PUBLICATION OT-2026-000010312 Single bellows cup vacuum gripper, three stage ejector, supply line pressure sensor, sustained blow-off before set-down Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010312 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A bellows-cup vacuum gripping tool comprising one mounting flange, one bellows cup, one ejector, one pressure sensor and one blow-off valve. When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector. 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 bellows-cup vacuum gripping tool: one bellows cup carried on a mounting flange, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, 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 three folds. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has three stages. [0005] One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0006] One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a sustained blast. The blow-off pulse is given before set-down. [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 pressure sensor is tapped into the line between the ejector and the bellows cup and reads the pressure of the whole circuit. [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 pressure sensor reports to the cell controller. 3. Operating sequence and conditions [0016] - When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector. [0017] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0018] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0019] - 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. [0020] - The workpiece is held until the blow-off valve has opened the circuit. [0021] The cell controller reads the pressure sensor (the common supply line) and commands the blow-off valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0022] Parameter values of this embodiment: folds of the bellows cup: 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 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 pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0023] 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. [0024] 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. [0025] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. 5. Provenance and status [0026] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4489564-B1, US-10549431-B2, US-11427405-B1, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0027] This publication supersedes OT-2026-000006030, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: sensor placement moved from an absent manifold to the supply line. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010312 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010312 { "abstract": "A bellows-cup vacuum gripping tool comprising one mounting flange, one bellows cup, one ejector, one pressure sensor and one blow-off valve. When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. 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This publication supersedes OT-2026-000006031. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010313

Two pad foam vacuum gripper, two outlet manifold, plant vacuum fed, sustained blow-off after set-down, on a tool changer

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010313
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Tool Changers, Vacuum Supply
Document SHA-256: 70ec18cbb95b5d1336de93ea4efbf1dc0a4bbe70d053b6e4d577dff6e08d1326

Abstract

A foam-pad vacuum gripping tool comprising one tool-change interface, two foam pads, one plant vacuum connection, one manifold and one blow-off valve. When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a foam-pad vacuum gripping tool: two foam pads carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

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

[0003]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 closed cell foam.

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

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

[0007]The foam pads are carried on the tool side of the tool-change interface.

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

[0009]The manifold inlet is connected to the plant vacuum connection, which supplies every outlet of the manifold.

[0010]Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads.

[0011]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.

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

[0013]The blow-off valve is fed from the compressed air supply of the cell.

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

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

3. Operating sequence and conditions

[0016]

When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection.

[0017]

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

[0018]

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

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

4. Parameters and operating assumptions

[0020]Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: closed cell (sets whether air passes through the pad body or only through openings cut through it); outlets of the manifold: two (sets how many lines can be fed from one inlet); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[0021]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.

[0022]The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece.

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

[0024]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-4385681-B1, US-10259123-B2, US-11858125-B2, US-8006968-B2, US-8132312-B2; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0026]This publication supersedes OT-2026-000006031, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010313, “Two pad foam vacuum gripper, two outlet manifold, plant vacuum fed, sustained blow-off after set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010313.

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

Terms

--- publication_id: "OT-2026-000010313" title: "Two pad foam vacuum gripper, two outlet manifold, plant vacuum fed, sustained blow-off after set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010313" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" - "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply" keywords: - "foam area gripping tool" - "tool-change interface" - "foam pad" - "plant vacuum connection" - "manifold" - "blow-off valve" - "blow off release" - "compressed air supply" - "plant vacuum supply" - "release control" --- # Two pad foam vacuum gripper, two outlet manifold, plant vacuum fed, sustained blow-off after set-down, on a tool changer ## Abstract A foam-pad vacuum gripping tool comprising one tool-change interface, two foam pads, one plant vacuum connection, one manifold and one blow-off valve. When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a foam-pad vacuum gripping tool: two foam pads carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] **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 closed cell foam. [0004] **One plant vacuum connection.** The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets. [0006] **One blow-off valve.** The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a sustained blast. The blow-off pulse is given after set-down. [0007] The foam pads are carried on the tool side of the tool-change interface. [0008] The manifold is fixed to the tool side of the tool-change interface. [0009] The manifold inlet is connected to the plant vacuum connection, which supplies every outlet of the manifold. [0010] Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads. [0011] 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. [0012] The robot side of the tool-change interface is bolted to the robot flange. [0013] The blow-off valve is fed from the compressed air supply of the cell. [0014] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0015] The blow-off valve and the lock of the tool-change interface are switched by the cell controller. ## 3. Operating sequence and conditions - When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. - 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. [0019] The cell controller commands the blow-off valve, the tool-change interface; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0020] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: closed cell (sets whether air passes through the pad body or only through openings cut through it); outlets of the manifold: two (sets how many lines can be fed from one inlet); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0021] 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. [0022] The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece. [0023] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. [0024] 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-4385681-B1, US-10259123-B2, US-11858125-B2, US-8006968-B2, US-8132312-B2; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0026] This publication supersedes OT-2026-000006031, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. OPENTECHNICAL PUBLICATION OT-2026-000010313 Two pad foam vacuum gripper, two outlet manifold, plant vacuum fed, sustained blow-off after set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010313 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A foam-pad vacuum gripping tool comprising one tool-change interface, two foam pads, one plant vacuum connection, one manifold and one blow-off valve. When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a foam-pad vacuum gripping tool: two foam pads carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] 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 closed cell foam. [0004] One plant vacuum connection. The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets. [0006] One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a sustained blast. The blow-off pulse is given after set-down. [0007] The foam pads are carried on the tool side of the tool-change interface. [0008] The manifold is fixed to the tool side of the tool-change interface. [0009] The manifold inlet is connected to the plant vacuum connection, which supplies every outlet of the manifold. [0010] Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads. [0011] 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. [0012] The robot side of the tool-change interface is bolted to the robot flange. [0013] The blow-off valve is fed from the compressed air supply of the cell. [0014] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0015] The blow-off valve and the lock of the tool-change interface are switched by the cell controller. 3. Operating sequence and conditions [0016] - When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. [0017] - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. [0018] - The workpiece is held until the blow-off valve has opened the circuit. [0019] The cell controller commands the blow-off valve, the tool-change interface; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0020] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: closed cell (sets whether air passes through the pad body or only through openings cut through it); outlets of the manifold: two (sets how many lines can be fed from one inlet); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0021] 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. [0022] The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece. [0023] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. [0024] 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-4385681-B1, US-10259123-B2, US-11858125-B2, US-8006968-B2, US-8132312-B2; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0026] This publication supersedes OT-2026-000006031, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010313 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010313 { "abstract": "A foam-pad vacuum gripping tool comprising one tool-change interface, two foam pads, one plant vacuum connection, one manifold and one blow-off valve. When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. 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-2026-000010313", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "robotics-automation/end-effectors/tool-changers", "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply" ], "extent": { "figures": 0, "paragraphs": 26, "words": 919 }, "figures": [], "files": [ { "bytes": 17211, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "9478bb82b3a7f15de57ead8b18d914e5750cab63859eab696710c6852bcb87ae" }, { "bytes": 7002, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "2f6968ece61910194639d7e99bb62c78de9fed88d8d6cfe65f7a3ff0d588d0b4" }, { "bytes": 6669, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "70ec18cbb95b5d1336de93ea4efbf1dc0a4bbe70d053b6e4d577dff6e08d1326" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000010313/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "foam area gripping tool", "tool-change interface", "foam pad", "plant vacuum connection", "manifold", "blow-off valve", "blow off release", "compressed air supply", "plant vacuum supply", "release control" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000010313", "published_at": "2026-09-17T08:11:52.445886Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000006031", "title": "Two pad foam vacuum gripper, two outlet manifold, plant vacuum fed, sustained blow-off after set-down, on a tool changer", "uuid": "01a0ae6c-0ee5-7a1c-bda8-f7c4f3ebfd70" } z7Ecnxyne8ypD2a2m15hSozvnwMgFJr/89w/O/ujnZY70NqRNsz8pGXPEDpILFH2nmN8EorWF6BATEbzx4wiCg== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: z7Ecnxyne8ypD2a2m15hSozvnwMgFJr/89w/O/ujnZY70NqRNsz8pGXPEDpILFH2nmN8EorWF6BATEbzx4wiCg== {"files":[{"bytes":16894,"name":"index.html","sha256":"d8ce69889bdc706fe1b112002443cea4c15659cc00e752a7ff9142c0f4cd8e41"},{"bytes":6637,"name":"publication.md","sha256":"ead37422cdc22e9b3bca94b9b517e40523995c617006c36a09e86fa683bdba5a"},{"bytes":6319,"name":"publication.txt","sha256":"9dd5f248c1bb631646173afec47ce8d9203feccb3df60c78f47e8451c59f0b75"},{"bytes":2803,"name":"manifest.json","sha256":"e1ebbf02b3bad2b4fe1856cda5ce7d9d76f3792b5de13db0c12fba865b085251"},{"bytes":89,"name":"manifest.sig","sha256":"32a91abe6d391aca9f8afee35094867e098fec8b7a9cdb2f409e31b8f0f17014"},{"bytes":227,"name":"manifest.sig.txt","sha256":"f45ece5d55887ec6838ddf733b718dd2b140d607716f27d4c080e0f810154233"}],"publication_id":"OT-2026-000010314"} Six pad foam vacuum gripper, six outlet manifold, common isolation valve, plant vacuum fed, vented after set-down - OpenTechnical OT-2026-000010314

This publication supersedes OT-2026-000006032. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010314

Six pad foam vacuum gripper, six outlet manifold, common isolation valve, plant vacuum fed, vented after set-down

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010314
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Vacuum Supply, Vacuum Safety Systems
Document SHA-256: 9dd5f248c1bb631646173afec47ce8d9203feccb3df60c78f47e8451c59f0b75

Abstract

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

1. Purpose and arrangement

[0001]This disclosure describes a foam-pad vacuum gripping tool: six foam pads carried on a mounting flange, fed by a plant vacuum connection. It is arranged for cutting part of the circuit while the rest holds vacuum, 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]Six foam pads. Each foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The count of six follows from the arrangement: one gripping element per manifold outlet. The pad is of open cell foam.

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

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

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

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

[0008]The foam pads are carried on the tool side of the mounting flange.

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

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

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

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

[0013]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.

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

[0015]The isolation valve and the vent valve are switched by the cell controller.

3. Operating sequence and conditions

[0016]

When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection.

[0017]

After the foam pads have reached the workpiece, the isolation valve is closed by the cell controller.

[0018]

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

[0019]

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

[0020]

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

[0021]The cell controller commands the isolation valve, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0022]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); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; outlets of the manifold: six (sets how many lines can be fed from one inlet); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

[0023]The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area.

5. Provenance and status

[0024]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10163334-B1, US-10259123-B2, US-10549431-B2, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0025]This publication supersedes OT-2026-000006032, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone isolation without zones changed to common; release element added: a vent valve after set-down (the legacy assembly had no way to let go).

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010314, “Six pad foam vacuum gripper, six outlet manifold, common isolation valve, plant vacuum fed, vented after set-down,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010314.

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

Terms

--- publication_id: "OT-2026-000010314" title: "Six pad foam vacuum gripper, six outlet manifold, common isolation valve, plant vacuum fed, vented after set-down" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010314" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply" - "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" keywords: - "foam area gripping tool" - "mounting flange" - "foam pad" - "plant vacuum connection" - "isolation valve" - "manifold" - "vent valve" - "common isolation" - "plant vacuum supply" - "release control" --- # Six pad foam vacuum gripper, six outlet manifold, common isolation valve, plant vacuum fed, vented after set-down ## Abstract A foam-pad vacuum gripping tool comprising one mounting flange, six foam pads, one plant vacuum connection, one isolation valve, one manifold and one vent valve. When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a foam-pad vacuum gripping tool: six foam pads carried on a mounting flange, fed by a plant vacuum connection. It is arranged for cutting part of the circuit while the rest holds vacuum, 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] **Six foam pads.** Each foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The count of six follows from the arrangement: one gripping element per manifold outlet. The pad is of open cell foam. [0004] **One plant vacuum connection.** The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] **One isolation valve.** The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [0007] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The foam pads are carried on the tool side of the mounting flange. [0009] The manifold is fixed to the tool side of the mounting flange. [0010] The isolation valve is placed in the line from the plant vacuum connection, so that closing the valve cuts the whole circuit from the supply. [0011] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0012] Each manifold outlet feeds one foam pad by its own vacuum line, so that the six outlets feed six foam pads. [0013] 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. [0014] The robot side of the mounting flange is bolted to the robot flange. [0015] The isolation valve and the vent valve are switched by the cell controller. ## 3. Operating sequence and conditions - When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. - After the foam pads have reached the workpiece, the isolation valve is closed by the cell controller. - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. - The workpiece is held until the vent valve has opened the circuit. [0021] The cell controller commands the isolation valve, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0022] 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); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; outlets of the manifold: six (sets how many lines can be fed from one inlet); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0023] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. ## 5. Provenance and status [0024] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10163334-B1, US-10259123-B2, US-10549431-B2, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0025] This publication supersedes OT-2026-000006032, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone isolation without zones changed to common; release element added: a vent valve after set-down (the legacy assembly had no way to let go). OPENTECHNICAL PUBLICATION OT-2026-000010314 Six pad foam vacuum gripper, six outlet manifold, common isolation valve, plant vacuum fed, vented after set-down Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010314 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A foam-pad vacuum gripping tool comprising one mounting flange, six foam pads, one plant vacuum connection, one isolation valve, one manifold and one vent valve. When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a foam-pad vacuum gripping tool: six foam pads carried on a mounting flange, fed by a plant vacuum connection. It is arranged for cutting part of the circuit while the rest holds vacuum, 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] Six foam pads. Each foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The count of six follows from the arrangement: one gripping element per manifold outlet. The pad is of open cell foam. [0004] One plant vacuum connection. The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] One isolation valve. The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [0007] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The foam pads are carried on the tool side of the mounting flange. [0009] The manifold is fixed to the tool side of the mounting flange. [0010] The isolation valve is placed in the line from the plant vacuum connection, so that closing the valve cuts the whole circuit from the supply. [0011] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0012] Each manifold outlet feeds one foam pad by its own vacuum line, so that the six outlets feed six foam pads. [0013] 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. [0014] The robot side of the mounting flange is bolted to the robot flange. [0015] The isolation valve and the vent valve are switched by the cell controller. 3. Operating sequence and conditions [0016] - When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. [0017] - After the foam pads have reached the workpiece, the isolation valve is closed by the cell controller. [0018] - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. [0019] - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. [0020] - The workpiece is held until the vent valve has opened the circuit. [0021] The cell controller commands the isolation valve, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0022] 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); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; outlets of the manifold: six (sets how many lines can be fed from one inlet); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0023] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. 5. Provenance and status [0024] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10163334-B1, US-10259123-B2, US-10549431-B2, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0025] This publication supersedes OT-2026-000006032, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone isolation without zones changed to common; release element added: a vent valve after set-down (the legacy assembly had no way to let go). ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010314 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010314 { "abstract": "A foam-pad vacuum gripping tool comprising one mounting flange, six foam pads, one plant vacuum connection, one isolation valve, one manifold and one vent valve. When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000010314", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply", "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" ], "extent": { "figures": 0, "paragraphs": 25, "words": 870 }, "figures": [], "files": [ { "bytes": 16894, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "d8ce69889bdc706fe1b112002443cea4c15659cc00e752a7ff9142c0f4cd8e41" }, { "bytes": 6637, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "ead37422cdc22e9b3bca94b9b517e40523995c617006c36a09e86fa683bdba5a" }, { "bytes": 6319, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "9dd5f248c1bb631646173afec47ce8d9203feccb3df60c78f47e8451c59f0b75" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000010314/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "foam area gripping tool", "mounting flange", "foam pad", "plant vacuum connection", "isolation valve", "manifold", "vent valve", "common isolation", "plant vacuum supply", "release control" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000010314", "published_at": "2026-09-17T08:11:52.445886Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000006032", "title": "Six pad foam vacuum gripper, six outlet manifold, common isolation valve, plant vacuum fed, vented after set-down", "uuid": "01a0ae6c-0ee5-7a50-83fe-ed3f23a646fb" } LjbdN+W1xzExaMXcohJcYhFpmemDedJw66Kk0owif5u1iPGYNXxp1VwXcTasAkLuaFoZPGoXyQi0oBZsxvpECw== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: LjbdN+W1xzExaMXcohJcYhFpmemDedJw66Kk0owif5u1iPGYNXxp1VwXcTasAkLuaFoZPGoXyQi0oBZsxvpECw== {"files":[{"bytes":18364,"name":"index.html","sha256":"290607ab28b7c29536f55409b87e8865bafbd6af67ff0bdb4fd6e6bd8444babb"},{"bytes":7938,"name":"publication.md","sha256":"9fd2d0dba0cbc8ff6d8106471dc63a5c70f783832a7a4cce89f94ac8e4c976fa"},{"bytes":7619,"name":"publication.txt","sha256":"446ef8be417f45a81d9b95922677d32123f3826f8dcc67efc5f144108d53bfe5"},{"bytes":2892,"name":"manifest.json","sha256":"235496865fd841234e2ac0dbc815b65186212bbd8c083e21489ca362aabe0d06"},{"bytes":89,"name":"manifest.sig","sha256":"c43ba378be3aa865a7550bab1a69c376465461b0a5f0cba327c9fd8191116aea"},{"bytes":227,"name":"manifest.sig.txt","sha256":"3dd0a31034bcbfd607854a9ca35fa1343f92a87c74c473e43ea3d71b9887cf8d"}],"publication_id":"OT-2026-000010315"} Single bellows cup vacuum gripper, common isolation valve, plant vacuum fed, pulsed blow-off before set-down, on a tool changer - OpenTechnical OT-2026-000010315

This publication supersedes OT-2026-000006033. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010315

Single bellows cup vacuum gripper, common isolation valve, plant vacuum fed, pulsed blow-off before set-down, on a tool changer

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010315
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Valves and Manifolds, Tool Changers
Document SHA-256: 446ef8be417f45a81d9b95922677d32123f3826f8dcc67efc5f144108d53bfe5

Abstract

A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one plant vacuum connection, one isolation valve, one contact detector and one blow-off valve. When the bellows cup reaches the workpiece, the bellows cup is 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 bellows-cup vacuum gripping tool: one bellows cup carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for cutting part of the circuit while the rest holds vacuum, 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 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 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 contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame.

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

[0008]The bellows cup is carried on the tool side of the tool-change interface.

[0009]The isolation valve is placed in the line from the plant vacuum connection, so that closing the valve cuts the whole circuit from the supply.

[0010]The bellows cup is connected to the isolation valve outlet by a single vacuum line, so that the face is evacuated through that line.

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

[0012]The blow-off valve is connected to the circuit at the line downstream of the isolation valve, so that compressed air can be driven back through the circuit to the face.

[0013]The robot side of the tool-change interface is bolted to the robot flange.

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

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

3. Operating sequence and conditions

[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 plant vacuum connection.

[0018]

After the bellows cup has reached the workpiece, the isolation valve is closed by the cell controller.

[0019]

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

[0020]

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

[0021]

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

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

4. Parameters and operating assumptions

[0023]Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); folds of the bellows cup: 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 cup: plastic (sets the friction at the lip and the resistance of the folds to fatigue); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down).

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

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

[0026]The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool.

5. Provenance and status

[0027]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4489564-B1, US-10163334-B1, US-10259123-B2, US-11858125-B2, US-2022339798-A1, US-8132312-B2; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0028]This publication supersedes OT-2026-000006033, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone isolation without zones changed to common.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010315, “Single bellows cup vacuum gripper, common isolation valve, plant vacuum fed, pulsed blow-off before set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010315.

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

Terms

--- publication_id: "OT-2026-000010315" title: "Single bellows cup vacuum gripper, common isolation valve, plant vacuum fed, pulsed blow-off before set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010315" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/position-and-presence-sensing" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" keywords: - "bellows compliant vacuum tool" - "tool-change interface" - "bellows cup" - "plant vacuum connection" - "isolation valve" - "contact detector" - "blow-off valve" - "blow off release" - "common isolation" - "compressed air supply" --- # Single bellows cup vacuum gripper, common isolation valve, plant vacuum fed, pulsed blow-off before set-down, on a tool changer ## Abstract A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one plant vacuum connection, one isolation valve, one contact detector and one blow-off valve. When the bellows cup reaches the workpiece, the bellows cup is 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 bellows-cup vacuum gripping tool: one bellows cup carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for cutting part of the circuit while the rest holds vacuum, 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 mechanical 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 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 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 contact detector.** The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0007] **One blow-off valve.** The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given before set-down. [0008] The bellows cup is carried on the tool side of the tool-change interface. [0009] The isolation valve is placed in the line from the plant vacuum connection, so that closing the valve cuts the whole circuit from the supply. [0010] The bellows cup is connected to the isolation valve outlet by a single vacuum line, so that the face is evacuated through that line. [0011] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0012] The blow-off valve is connected to the circuit at the line downstream of the isolation valve, so that compressed air can be driven back through the circuit to the face. [0013] The robot side of the tool-change interface is bolted to the robot flange. [0014] The blow-off valve is fed from the compressed air supply of the cell. [0015] The isolation valve and the blow-off valve are switched by the cell controller; the contact detector reports to the cell controller. ## 3. Operating sequence and conditions - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. - When the bellows cup reaches the workpiece, the bellows cup is evacuated by the plant vacuum connection. - After the bellows cup has reached the workpiece, the isolation valve is closed by the cell controller. - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. - Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. - The workpiece is held until the blow-off valve has opened the circuit. [0022] The cell controller reads the contact detector (on the frame) and commands the blow-off valve, the isolation valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0023] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); folds of the bellows cup: 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 cup: plastic (sets the friction at the lip and the resistance of the folds to fatigue); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0024] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0025] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0026] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. ## 5. Provenance and status [0027] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4489564-B1, US-10163334-B1, US-10259123-B2, US-11858125-B2, US-2022339798-A1, US-8132312-B2; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0028] This publication supersedes OT-2026-000006033, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone isolation without zones changed to common. OPENTECHNICAL PUBLICATION OT-2026-000010315 Single bellows cup vacuum gripper, common isolation valve, plant vacuum fed, pulsed blow-off before set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010315 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one plant vacuum connection, one isolation valve, one contact detector and one blow-off valve. When the bellows cup reaches the workpiece, the bellows cup is 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 bellows-cup vacuum gripping tool: one bellows cup carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for cutting part of the circuit while the rest holds vacuum, 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 mechanical 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 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 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 contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0007] One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given before set-down. [0008] The bellows cup is carried on the tool side of the tool-change interface. [0009] The isolation valve is placed in the line from the plant vacuum connection, so that closing the valve cuts the whole circuit from the supply. [0010] The bellows cup is connected to the isolation valve outlet by a single vacuum line, so that the face is evacuated through that line. [0011] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0012] The blow-off valve is connected to the circuit at the line downstream of the isolation valve, so that compressed air can be driven back through the circuit to the face. [0013] The robot side of the tool-change interface is bolted to the robot flange. [0014] The blow-off valve is fed from the compressed air supply of the cell. [0015] The isolation valve and the blow-off valve are switched by the cell controller; the contact detector reports to the cell controller. 3. Operating sequence and conditions [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 plant vacuum connection. [0018] - After the bellows cup has reached the workpiece, the isolation valve is closed by the cell controller. [0019] - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. [0020] - Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. [0021] - The workpiece is held until the blow-off valve has opened the circuit. [0022] The cell controller reads the contact detector (on the frame) and commands the blow-off valve, the isolation valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0023] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); folds of the bellows cup: 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 cup: plastic (sets the friction at the lip and the resistance of the folds to fatigue); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0024] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0025] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0026] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. 5. Provenance and status [0027] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4489564-B1, US-10163334-B1, US-10259123-B2, US-11858125-B2, US-2022339798-A1, US-8132312-B2; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0028] This publication supersedes OT-2026-000006033, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone isolation without zones changed to common. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010315 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010315 { "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one plant vacuum connection, one isolation valve, one contact detector and one blow-off valve. When the bellows cup reaches the workpiece, the bellows cup is 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-2026-000010315", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "sensors-controls-machine-vision/position-and-presence-sensing", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "robotics-automation/end-effectors/tool-changers" ], "extent": { "figures": 0, "paragraphs": 28, "words": 1068 }, "figures": [], "files": [ { "bytes": 18364, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "290607ab28b7c29536f55409b87e8865bafbd6af67ff0bdb4fd6e6bd8444babb" }, { "bytes": 7938, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "9fd2d0dba0cbc8ff6d8106471dc63a5c70f783832a7a4cce89f94ac8e4c976fa" }, { "bytes": 7619, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "446ef8be417f45a81d9b95922677d32123f3826f8dcc67efc5f144108d53bfe5" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000010315/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", "plant vacuum connection", "isolation valve", "contact detector", "blow-off valve", "blow off release", "common isolation", "compressed air supply" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000010315", "published_at": "2026-09-17T08:11:52.445886Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000006033", "title": "Single bellows cup vacuum gripper, common isolation valve, plant vacuum fed, pulsed blow-off before set-down, on a tool changer", "uuid": "01a0ae6c-0ee5-7df9-a8d5-aec586ad1df2" } f5S/hnoeDXs5g6YEfU+S864DABMMlyS1nQCz+HxeHA3v1FZWSgRYTQLgPHNgi0/vwfrOrai31IKfNaOD1X1UAg== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: f5S/hnoeDXs5g6YEfU+S864DABMMlyS1nQCz+HxeHA3v1FZWSgRYTQLgPHNgi0/vwfrOrai31IKfNaOD1X1UAg== {"files":[{"bytes":18398,"name":"index.html","sha256":"a6d70dd366dc67c4e1eadc11343b523de23e595a0d5bee9a22087257cf12e628"},{"bytes":7946,"name":"publication.md","sha256":"890c266a72b7c4f14887f311c77b59ef11e8d2ca9f64a02279cbf4e30e96696d"},{"bytes":7648,"name":"publication.txt","sha256":"426d067ca1ce6f8fc3ffdd80c52bcda45b4965ad54b0541c5b0f748ba7a840f3"},{"bytes":2865,"name":"manifest.json","sha256":"ad933cb3eae2e1025209b621fa8a1442240c5e69a7d96b56417ce293ecd204ef"},{"bytes":89,"name":"manifest.sig","sha256":"c108562634ef293242c61c6f538d8f1830c1751a258ecab5496a9a7c82dbb35c"},{"bytes":227,"name":"manifest.sig.txt","sha256":"1734838db4965c5961d80edc3ae19f1c5304c85f86af86b7da3db4ff872e6fd6"}],"publication_id":"OT-2026-000010316"} Single cup vacuum gripper, plant vacuum fed, supply line pressure sensor, vented before set-down, on a tool changer - OpenTechnical OT-2026-000010316

This publication supersedes OT-2026-000006034. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010316

Single cup vacuum gripper, plant vacuum fed, supply line pressure sensor, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010316
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Tool Changers
Document SHA-256: 426d067ca1ce6f8fc3ffdd80c52bcda45b4965ad54b0541c5b0f748ba7a840f3

Abstract

A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one plant vacuum connection, one pressure sensor, one contact detector and one vent valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the plant vacuum connection. 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: one suction cup carried on a tool-change interface, fed by a plant vacuum connection. 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

[0003]One suction cup. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the oval form.

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

[0005]One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line.

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

[0008]The suction cup is carried on the tool side of the tool-change interface.

[0009]The suction cup is connected to the plant vacuum connection by a single vacuum line, so that the face is evacuated through that line.

[0010]The pressure sensor is tapped into the line between the plant vacuum connection and the suction cup and reads the pressure of the whole circuit.

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

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

[0013]The robot side of the tool-change interface is bolted to the robot flange.

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

[0015]The vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensor and the contact detector report 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 suction cup reaches the workpiece, the suction cup is evacuated by the plant vacuum connection.

[0018]

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

[0019]

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

[0020]

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

[0021]

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

[0022]The cell controller reads the pressure sensor (the common supply line) and the contact detector (on the frame) and commands the tool-change interface, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0023]Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); form of the suction cup: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); 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).

[0025]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.

[0026]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.

[0027]Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference.

5. Provenance and status

[0028]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10259123-B2, US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0029]This publication supersedes OT-2026-000006034, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: sensor placement moved from an absent manifold to the supply line.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010316, “Single cup vacuum gripper, plant vacuum fed, supply line pressure sensor, vented before set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010316.

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

Terms

--- publication_id: "OT-2026-000010316" title: "Single cup vacuum gripper, plant vacuum fed, supply line pressure sensor, vented before set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010316" 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" - "robotics-automation/end-effectors/tool-changers" keywords: - "discrete suction cup tool" - "tool-change interface" - "suction cup" - "plant vacuum connection" - "pressure sensor" - "contact detector" - "vent valve" - "compressed air supply" - "contact sensing" - "drop release" --- # Single cup vacuum gripper, plant vacuum fed, supply line pressure sensor, vented before set-down, on a tool changer ## Abstract A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one plant vacuum connection, one pressure sensor, one contact detector and one vent valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the plant vacuum connection. 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: one suction cup carried on a tool-change interface, fed by a plant vacuum connection. 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 pneumatic lock. [0003] **One suction cup.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the oval form. [0004] **One plant vacuum connection.** The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] **One pressure sensor.** The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0006] **One contact detector.** The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0007] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0008] The suction cup is carried on the tool side of the tool-change interface. [0009] The suction cup is connected to the plant vacuum connection by a single vacuum line, so that the face is evacuated through that line. [0010] The pressure sensor is tapped into the line between the plant vacuum connection and the suction cup and reads the pressure of the whole circuit. [0011] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0012] The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated. [0013] The robot side of the tool-change interface is bolted to the robot flange. [0014] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0015] The vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensor and the contact detector report to the cell controller. ## 3. Operating sequence and conditions - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. - When the suction cup reaches the workpiece, the suction cup is evacuated by the 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 vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. - The workpiece is held until the vent valve has opened the circuit. [0022] The cell controller reads the pressure sensor (the common supply line) and the contact detector (on the frame) and commands the tool-change interface, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0023] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); form of the suction cup: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); 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). [0024] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0025] The 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. [0026] 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. [0027] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. ## 5. Provenance and status [0028] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10259123-B2, US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0029] This publication supersedes OT-2026-000006034, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: sensor placement moved from an absent manifold to the supply line. OPENTECHNICAL PUBLICATION OT-2026-000010316 Single cup vacuum gripper, plant vacuum fed, supply line pressure sensor, vented before set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010316 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one plant vacuum connection, one pressure sensor, one contact detector and one vent valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the plant vacuum connection. 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: one suction cup carried on a tool-change interface, fed by a plant vacuum connection. 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 pneumatic lock. [0003] One suction cup. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the oval form. [0004] One plant vacuum connection. The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0006] One contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0007] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0008] The suction cup is carried on the tool side of the tool-change interface. [0009] The suction cup is connected to the plant vacuum connection by a single vacuum line, so that the face is evacuated through that line. [0010] The pressure sensor is tapped into the line between the plant vacuum connection and the suction cup and reads the pressure of the whole circuit. [0011] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0012] The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated. [0013] The robot side of the tool-change interface is bolted to the robot flange. [0014] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0015] The vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensor and the contact detector report 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 suction cup reaches the workpiece, the suction cup is evacuated by the plant vacuum connection. [0018] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0019] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0020] - Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. [0021] - The workpiece is held until the vent valve has opened the circuit. [0022] The cell controller reads the pressure sensor (the common supply line) and the contact detector (on the frame) and commands the tool-change interface, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0023] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); form of the suction cup: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); 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). [0024] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0025] The 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. [0026] 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. [0027] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. 5. Provenance and status [0028] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10259123-B2, US-11427405-B1, US-11858125-B2, US-2016214812-A1, US-2022339798-A1, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0029] This publication supersedes OT-2026-000006034, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: sensor placement moved from an absent manifold to the supply line. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010316 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010316 { "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one plant vacuum connection, one pressure sensor, one contact detector and one vent valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the plant vacuum connection. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. 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This publication supersedes OT-2026-000006035. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010317

Four cup vacuum gripper, four zone face, three stage ejector, pulsed blow-off before set-down

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010317
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Vacuum Generation, Vacuum Safety Systems
Document SHA-256: f4e46db19e2a83af15abe929960e7b8888c6d4dd86c5281046a3fd9114da4f6e

Abstract

A zoned vacuum gripping tool comprising one mounting flange, four suction cups, one ejector, four zone branches and one blow-off 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 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: four suction cups carried on a mounting flange, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face and clearing the face at release. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

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

[0003]Four suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of four follows from the arrangement: one gripping element per zone branch. The suction cups are of the oval form.

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

[0006]One 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.

[0007]The suction cups are carried on the tool side of the mounting flange.

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

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

[0010]Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line.

[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.

3. Operating sequence and conditions

[0016]

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

[0017]

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.

[0018]

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

[0019]The cell controller commands the blow-off valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0020]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); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); 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).

[0021]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.

[0022]The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again.

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 US-10549431-B2, US-2016214812-A1, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0024]This publication supersedes OT-2026-000006035, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010317, “Four cup vacuum gripper, four zone face, three stage ejector, pulsed blow-off before set-down,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010317.

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

Terms

--- publication_id: "OT-2026-000010317" title: "Four cup vacuum gripper, four zone face, three stage ejector, pulsed blow-off before set-down" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010317" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" - "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" keywords: - "zoned vacuum tool" - "mounting flange" - "suction cup" - "ejector" - "zone branch" - "blow-off valve" - "blow off release" - "compressed air supply" - "drop release" - "release control" --- # Four cup vacuum gripper, four zone face, three stage ejector, pulsed blow-off before set-down ## Abstract A zoned vacuum gripping tool comprising one mounting flange, four suction cups, one ejector, four zone branches and one blow-off 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 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: four suction cups carried on a mounting flange, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face and clearing the face at release. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One mounting flange.** The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] **Four suction cups.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of four follows from the arrangement: one gripping element per zone branch. 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] **Four zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] **One 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. [0007] The suction cups are carried on the tool side of the mounting flange. [0008] The ejector is fixed to the tool side of the mounting flange. [0009] The four zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0010] Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line. [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. ## 3. Operating sequence and conditions - When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. - 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. [0019] The cell controller commands the blow-off valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0020] 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); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); 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). [0021] 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. [0022] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. ## 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 US-10549431-B2, US-2016214812-A1, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0024] This publication supersedes OT-2026-000006035, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. OPENTECHNICAL PUBLICATION OT-2026-000010317 Four cup vacuum gripper, four zone face, three stage ejector, pulsed blow-off before set-down Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010317 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one mounting flange, four suction cups, one ejector, four zone branches and one blow-off 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 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: four suction cups carried on a mounting flange, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face and clearing the face at release. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] Four suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of four follows from the arrangement: one gripping element per zone branch. 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] Four zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] One 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. [0007] The suction cups are carried on the tool side of the mounting flange. [0008] The ejector is fixed to the tool side of the mounting flange. [0009] The four zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0010] Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line. [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. 3. Operating sequence and conditions [0016] - When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. [0017] - 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. [0018] - The workpiece is held until the blow-off valve has opened the circuit. [0019] The cell controller commands the blow-off valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0020] 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); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); 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). [0021] 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. [0022] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. 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 US-10549431-B2, US-2016214812-A1, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0024] This publication supersedes OT-2026-000006035, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010317 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010317 { "abstract": "A zoned vacuum gripping tool comprising one mounting flange, four suction cups, one ejector, four zone branches and one blow-off 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 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-2026-000010317", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "industrial-motion-power-transmission/fluid-power/vacuum-generation", "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" ], "extent": { "figures": 0, "paragraphs": 24, "words": 874 }, "figures": [], "files": [ { "bytes": 16638, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "b74367a0f7befdd1d218838b50801dc18468eafceacf2936cfad4805cde85831" }, { "bytes": 6528, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "6f178b1fc621551aa9ed8a0552eaa9419e6a5cf081f26deb7699f3b8f1be6fcf" }, { "bytes": 6236, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "f4e46db19e2a83af15abe929960e7b8888c6d4dd86c5281046a3fd9114da4f6e" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000010317/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "mounting flange", "suction cup", "ejector", "zone branch", "blow-off valve", "blow off release", "compressed air supply", "drop release", "release control" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000010317", "published_at": "2026-09-17T08:11:52.445886Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000006035", "title": "Four cup vacuum gripper, four zone face, three stage ejector, pulsed blow-off before set-down", "uuid": "01a0ae6c-0ee5-7b71-adf2-18011d8a4d49" } UcD60emFKuEcht0N8bf+wGCspcbKpqpXSNNi1Xt0l2iOcRCOMTkEQ4zxY5yJdhsljc3vIdZNP5ZEA/7Me8JbCQ== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: UcD60emFKuEcht0N8bf+wGCspcbKpqpXSNNi1Xt0l2iOcRCOMTkEQ4zxY5yJdhsljc3vIdZNP5ZEA/7Me8JbCQ== {"files":[{"bytes":16412,"name":"index.html","sha256":"194e0a6f54d735b740ef5ef1ae6b8df5d19477bdb791e8182a461874b7521af7"},{"bytes":6303,"name":"publication.md","sha256":"31a9e0ada1a7e3772bdcd0b4637dda98623dda22b9b7ab0ed935381e92644e97"},{"bytes":6026,"name":"publication.txt","sha256":"838461f1326d17cf5493faac6ffbc7cc37dde02d97b01edc76af76f21b12d86a"},{"bytes":2728,"name":"manifest.json","sha256":"3d1e3f6dd3c0ef2c7beb9ef530640cef27800c89264389ef222891bcd0db676a"},{"bytes":89,"name":"manifest.sig","sha256":"3742690ff40b4b27089c570e789bee34abe778bad34b04ef0175c11e28e88622"},{"bytes":227,"name":"manifest.sig.txt","sha256":"b8c0091e43d299eb9eb57881f1df2f4ff2441e653c196eda10b719279881e4d4"}],"publication_id":"OT-2026-000010318"} Single cup vacuum gripper, two stage ejector, sustained blow-off after set-down - OpenTechnical OT-2026-000010318

This publication supersedes OT-2026-000006036. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010318

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

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010318
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Generation, Vacuum Safety Systems
Document SHA-256: 838461f1326d17cf5493faac6ffbc7cc37dde02d97b01edc76af76f21b12d86a

Abstract

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

1. Purpose and arrangement

[0001]This disclosure describes a suction-cup vacuum gripping tool: one suction cup carried on a mounting flange, fed by an ejector. It is arranged for starting the cycle at the moment of contact and clearing the face at release. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

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

[0003]One suction cup. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the oval form.

[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 frame.

[0007]The suction 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 suction 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 frame 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 suction cup reaches the workpiece, the suction 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 frame) and commands the blow-off valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0021]Parameter values of this embodiment: form of the suction cup: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down).

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

6. Correction notice

[0024]This publication supersedes OT-2026-000006036, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010318, “Single cup vacuum gripper, two stage ejector, sustained blow-off after set-down,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010318.

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

Terms

--- publication_id: "OT-2026-000010318" title: "Single cup vacuum gripper, two stage ejector, sustained blow-off after set-down" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010318" 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: - "discrete suction cup tool" - "mounting flange" - "suction cup" - "ejector" - "contact detector" - "blow-off valve" - "blow off release" - "compressed air supply" - "contact sensing" - "release control" --- # Single cup vacuum gripper, two stage ejector, sustained blow-off after set-down ## Abstract A suction-cup vacuum gripping tool comprising one mounting flange, one suction cup, one ejector, one contact detector and one blow-off valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a suction-cup vacuum gripping tool: one suction cup carried on a mounting flange, fed by an ejector. It is arranged for starting the cycle at the moment of contact and clearing the face at release. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One mounting flange.** The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] **One suction cup.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the 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 two 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 frame. [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 suction 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 suction 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 frame 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 suction cup reaches the workpiece, the suction cup is evacuated by the ejector. - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. - The workpiece is held until the blow-off valve has opened the circuit. [0020] The cell controller reads the contact detector (on the frame) and commands the blow-off valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0021] Parameter values of this embodiment: form of the suction cup: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [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 US-10549431-B2, US-2016214812-A1, US-2022339798-A1, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0024] This publication supersedes OT-2026-000006036, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. OPENTECHNICAL PUBLICATION OT-2026-000010318 Single cup vacuum gripper, two stage ejector, sustained blow-off after set-down Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010318 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A suction-cup vacuum gripping tool comprising one mounting flange, one suction cup, one ejector, one contact detector and one blow-off valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a suction-cup vacuum gripping tool: one suction cup carried on a mounting flange, fed by an ejector. It is arranged for starting the cycle at the moment of contact and clearing the face at release. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] One suction cup. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the 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 two 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 frame. [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 suction 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 suction 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 frame 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 suction cup reaches the workpiece, the suction 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 frame) and commands the blow-off valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0021] Parameter values of this embodiment: form of the suction cup: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [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 US-10549431-B2, US-2016214812-A1, US-2022339798-A1, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0024] This publication supersedes OT-2026-000006036, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010318 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010318 { "abstract": "A suction-cup vacuum gripping tool comprising one mounting flange, one suction cup, one ejector, one contact detector and one blow-off valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000010318", "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": 24, "words": 825 }, "figures": [], "files": [ { "bytes": 16412, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "194e0a6f54d735b740ef5ef1ae6b8df5d19477bdb791e8182a461874b7521af7" }, { "bytes": 6303, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "31a9e0ada1a7e3772bdcd0b4637dda98623dda22b9b7ab0ed935381e92644e97" }, { "bytes": 6026, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "838461f1326d17cf5493faac6ffbc7cc37dde02d97b01edc76af76f21b12d86a" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000010318/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "discrete suction cup tool", "mounting flange", "suction cup", "ejector", "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-2026-000010318", "published_at": "2026-09-17T08:11:52.445886Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000006036", "title": "Single cup vacuum gripper, two stage ejector, sustained blow-off after set-down", "uuid": "01a0ae6c-0ee5-7693-8508-1bfb44f9da26" } fZDQEQzM82pw68TxYQF6eHl6Q4YHDWj0WON7H9awJea5QV+G1B+CAb6EOW26d52/Exgj2thAc7hp1nKp2p13DA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: fZDQEQzM82pw68TxYQF6eHl6Q4YHDWj0WON7H9awJea5QV+G1B+CAb6EOW26d52/Exgj2thAc7hp1nKp2p13DA== {"files":[{"bytes":16087,"name":"index.html","sha256":"1380980eb7a913d7beb5dbffaeb4a5b79e66b2e67f930cbc872de0585dbd1cb8"},{"bytes":6081,"name":"publication.md","sha256":"6ead07dcec5f843cff5b5c7ddb40f7f3255283efe668d21bea90a1b50fe66b1b"},{"bytes":5805,"name":"publication.txt","sha256":"837005f9b5d24a4ab150c9a5a588bc79ad986d19dff5640d349b7b7dbff2ca58"},{"bytes":2748,"name":"manifest.json","sha256":"aef300bb89af2df615f43fce59aee60ef47823366190dd19bf98615fcde1aefa"},{"bytes":89,"name":"manifest.sig","sha256":"dbd8e2bd89d6a6dd97f80349313acef9b79f131bc470be68cbef8a95e31376c3"},{"bytes":227,"name":"manifest.sig.txt","sha256":"a3b0ef034cf93f38fd13e7882e2fdaa4b625ae75d2d8516f112288b7d17bcfe7"}],"publication_id":"OT-2026-000010319"} Single bellows cup vacuum gripper, three stage ejector, vented before set-down, on a tool changer - OpenTechnical OT-2026-000010319

This publication supersedes OT-2026-000006037. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010319

Single bellows cup vacuum gripper, three stage ejector, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010319
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Tool Changers, Vacuum Generation, Vacuum Safety Systems
Document SHA-256: 837005f9b5d24a4ab150c9a5a588bc79ad986d19dff5640d349b7b7dbff2ca58

Abstract

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

1. Purpose and arrangement

[0001]This disclosure describes a bellows-cup vacuum gripping tool: one bellows cup carried on a tool-change interface, fed by an ejector. It is arranged for controlling the moment of release, taking up height differences at the face and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0003]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.

[0005]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.

[0006]The bellows cup is carried on the tool side of the tool-change interface.

[0007]The ejector is fixed to the tool side of the tool-change interface.

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

[0009]The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated.

[0010]The robot side of the tool-change interface is bolted to the robot flange.

[0011]The ejector is fed from the compressed air supply of the cell.

[0012]The locking piston of the tool-change interface is fed from the compressed air supply of the cell.

[0013]The vent valve and the lock of the tool-change interface are switched by the cell controller.

3. Operating sequence and conditions

[0014]

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

[0015]

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.

[0016]

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

[0017]The cell controller commands the tool-change interface, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0018]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); 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).

[0019]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.

[0020]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

[0021]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, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0022]This publication supersedes OT-2026-000006037, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010319, “Single bellows cup vacuum gripper, three stage ejector, vented before set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010319.

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

Terms

--- publication_id: "OT-2026-000010319" title: "Single bellows cup vacuum gripper, three stage ejector, vented before set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010319" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "robotics-automation/end-effectors/tool-changers" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" - "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" keywords: - "bellows compliant vacuum tool" - "tool-change interface" - "bellows cup" - "ejector" - "vent valve" - "compressed air supply" - "drop release" - "release control" - "tool changing" - "vacuum" --- # Single bellows cup vacuum gripper, three stage ejector, vented before set-down, on a tool changer ## Abstract A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector and one vent valve. When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a bellows-cup vacuum gripping tool: one bellows cup carried on a tool-change interface, fed by an ejector. It is arranged for controlling the moment of release, taking up height differences at the face and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] **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 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. [0006] The bellows cup is carried on the tool side of the tool-change interface. [0007] The ejector is fixed to the tool side of the tool-change interface. [0008] The bellows cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line. [0009] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0010] The robot side of the tool-change interface is bolted to the robot flange. [0011] The ejector is fed from the compressed air supply of the cell. [0012] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0013] The vent valve and the lock of the tool-change interface are switched by the cell controller. ## 3. Operating sequence and conditions - When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector. - Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. - The workpiece is held until the vent valve has opened the circuit. [0017] The cell controller commands the tool-change interface, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0018] 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); 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). [0019] 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. [0020] 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 [0021] 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, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0022] This publication supersedes OT-2026-000006037, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. OPENTECHNICAL PUBLICATION OT-2026-000010319 Single bellows cup vacuum gripper, three stage ejector, vented before set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010319 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector and one vent valve. When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a bellows-cup vacuum gripping tool: one bellows cup carried on a tool-change interface, fed by an ejector. It is arranged for controlling the moment of release, taking up height differences at the face and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] 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 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. [0006] The bellows cup is carried on the tool side of the tool-change interface. [0007] The ejector is fixed to the tool side of the tool-change interface. [0008] The bellows cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line. [0009] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0010] The robot side of the tool-change interface is bolted to the robot flange. [0011] The ejector is fed from the compressed air supply of the cell. [0012] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0013] The vent valve and the lock of the tool-change interface are switched by the cell controller. 3. Operating sequence and conditions [0014] - When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector. [0015] - 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. [0016] - The workpiece is held until the vent valve has opened the circuit. [0017] The cell controller commands the tool-change interface, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0018] 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); 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). [0019] 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. [0020] 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 [0021] 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, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0022] This publication supersedes OT-2026-000006037, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010319 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010319 { "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector and one vent valve. When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000010319", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "robotics-automation/end-effectors/tool-changers", "industrial-motion-power-transmission/fluid-power/vacuum-generation", "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" ], "extent": { "figures": 0, "paragraphs": 22, "words": 794 }, "figures": [], "files": [ { "bytes": 16087, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "1380980eb7a913d7beb5dbffaeb4a5b79e66b2e67f930cbc872de0585dbd1cb8" }, { "bytes": 6081, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "6ead07dcec5f843cff5b5c7ddb40f7f3255283efe668d21bea90a1b50fe66b1b" }, { "bytes": 5805, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "837005f9b5d24a4ab150c9a5a588bc79ad986d19dff5640d349b7b7dbff2ca58" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000010319/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", "vent valve", "compressed air supply", "drop release", "release control", "tool changing", "vacuum" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000010319", "published_at": "2026-09-17T08:11:52.445886Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000006037", "title": "Single bellows cup vacuum gripper, three stage ejector, vented before set-down, on a tool changer", "uuid": "01a0ae6c-0ee5-755b-9fc5-df23d77bacc5" } Q+h7Oaifo4Svtk7xQnW9b1/pM380XFzW4gwxqv6e89ikZqaPZStHxZGTu2RPqEDhMYUSSpOXXZHPXAoz0nZHCw== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: Q+h7Oaifo4Svtk7xQnW9b1/pM380XFzW4gwxqv6e89ikZqaPZStHxZGTu2RPqEDhMYUSSpOXXZHPXAoz0nZHCw== {"files":[{"bytes":17743,"name":"index.html","sha256":"cbd3c0746ee3575b3c92437e42cf6e43f78b48b8304952802ebfe0817843c0bf"},{"bytes":7388,"name":"publication.md","sha256":"cb5be9e83ef5730bdd635be193b3d8020b2adaf25a077806a8478d0a8f99e6b8"},{"bytes":7089,"name":"publication.txt","sha256":"758509cfdd30266a9ce7a41022dd909e3ef675bd660272976d68593456ccbe85"},{"bytes":2792,"name":"manifest.json","sha256":"2c5e5817222fa284a3748fa36f642dc68e3ca2643032e5485a6c6d154d1fb7d5"},{"bytes":89,"name":"manifest.sig","sha256":"413c1c26a9f20db9e25219c2d83d6651f6800db9ce79865f3a7fb87a3db26eb4"},{"bytes":227,"name":"manifest.sig.txt","sha256":"879bcf5b473611a382c983ab5bb454add2135011d3b5b9b86c0f6b4943e18451"}],"publication_id":"OT-2026-000010320"} Two cup vacuum gripper, two zone face, four outlet manifold, single stage ejector, vented before set-down, on a tool changer - OpenTechnical OT-2026-000010320

This publication supersedes OT-2026-000006038. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010320

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

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010320
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Tool Changers, Vacuum Generation
Document SHA-256: 758509cfdd30266a9ce7a41022dd909e3ef675bd660272976d68593456ccbe85

Abstract

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

1. Purpose and arrangement

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

2. Components, construction and connections

[0003]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 zone branch. The suction cups are of the flat form.

[0005]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has 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 vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down.

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

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

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

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

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

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

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

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

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

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

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

[0019]The vent valve and the lock of the tool-change interface are switched by the cell controller.

3. Operating sequence and conditions

[0020]

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

[0021]

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

[0022]

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

[0023]The cell controller commands the tool-change interface, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0024]Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); 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: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: four (sets how many lines can be fed from one inlet); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

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

5. Provenance and status

[0027]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-11858125-B2, US-2016214812-A1, US-8006968-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0028]This publication supersedes OT-2026-000006038, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010320, “Two cup vacuum gripper, two zone face, four outlet manifold, single stage ejector, vented before set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010320.

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

Terms

--- publication_id: "OT-2026-000010320" title: "Two cup vacuum gripper, two zone face, four outlet manifold, single stage ejector, vented before set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010320" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" keywords: - "zoned vacuum tool" - "tool-change interface" - "suction cup" - "ejector" - "manifold" - "zone branch" - "vent valve" - "compressed air supply" - "drop release" - "release control" --- # Two cup vacuum gripper, two zone face, four outlet manifold, single stage ejector, vented before set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, two suction cups, one ejector, one manifold, two zone branches and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: two suction cups carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, controlling the moment of release and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] **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 zone branch. The suction cups are of the flat form. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [0005] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets. [0006] **Two zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of two follows from the arrangement: one branch per zone. The distribution is divided into two zones, each fed by its own branch. [0007] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0008] The suction cups are carried on the tool side of the tool-change interface. [0009] The manifold is fixed to the tool side of the tool-change interface. [0010] The ejector is fixed to the tool side of the tool-change interface. [0011] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0012] Each of the two zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only. [0013] Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line. [0014] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0015] The robot side of the tool-change interface is bolted to the robot flange. [0016] The ejector is fed from the compressed air supply of the cell. [0017] The remaining two manifold outlets are plugged and carry no line. [0018] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0019] The vent valve and the lock of the tool-change interface are switched by the cell controller. ## 3. Operating sequence and conditions - 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 workpiece is held until the vent valve has opened the circuit. [0023] The cell controller commands the tool-change interface, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); 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: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: four (sets how many lines can be fed from one inlet); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0025] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0026] The 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 [0027] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-11858125-B2, US-2016214812-A1, US-8006968-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0028] This publication supersedes OT-2026-000006038, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. OPENTECHNICAL PUBLICATION OT-2026-000010320 Two cup vacuum gripper, two zone face, four outlet manifold, single stage ejector, vented before set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010320 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, two suction cups, one ejector, one manifold, two zone branches and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: two suction cups carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, controlling the moment of release and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] 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 zone branch. The suction cups are of the flat form. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [0005] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets. [0006] Two zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of two follows from the arrangement: one branch per zone. The distribution is divided into two zones, each fed by its own branch. [0007] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0008] The suction cups are carried on the tool side of the tool-change interface. [0009] The manifold is fixed to the tool side of the tool-change interface. [0010] The ejector is fixed to the tool side of the tool-change interface. [0011] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0012] Each of the two zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only. [0013] Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line. [0014] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0015] The robot side of the tool-change interface is bolted to the robot flange. [0016] The ejector is fed from the compressed air supply of the cell. [0017] The remaining two manifold outlets are plugged and carry no line. [0018] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0019] The vent valve and the lock of the tool-change interface are switched by the cell controller. 3. Operating sequence and conditions [0020] - When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. [0021] - Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. [0022] - The workpiece is held until the vent valve has opened the circuit. [0023] The cell controller commands the tool-change interface, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); 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: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: four (sets how many lines can be fed from one inlet); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0025] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0026] The 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 [0027] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-11858125-B2, US-2016214812-A1, US-8006968-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0028] This publication supersedes OT-2026-000006038, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010320 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010320 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, two suction cups, one ejector, one manifold, two zone branches 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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This publication supersedes OT-2026-000006039. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010321

Two pad foam vacuum gripper, two outlet manifold, common isolation valve, single stage ejector, pulsed blow-off after set-down, on a tool changer

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010321
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Valves and Manifolds, Tool Changers
Document SHA-256: f3d198780b0f9581017ea8880b14298bc9fef430127e04dacf549465b1cbfab7

Abstract

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

1. Purpose and arrangement

[0001]This disclosure describes a foam-pad vacuum gripping tool: two foam pads carried on a tool-change interface, fed by an ejector. It is arranged for cutting part of the circuit while the rest holds vacuum, starting the cycle at the moment of contact, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

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

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

[0009]The foam pads 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 isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply.

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

[0014]Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads.

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

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

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

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

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

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

[0021]The isolation valve, 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

[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]

After the foam pads have reached the workpiece, the isolation valve is closed by the cell controller.

[0025]

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

[0026]

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

[0027]

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

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

4. Parameters and operating assumptions

[0029]Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: closed cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); 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 contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[0030]The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again.

[0031]The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece.

[0032]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

[0033]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10163334-B1, US-11858125-B2, US-2022339798-A1, US-8006968-B2, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0034]This publication supersedes OT-2026-000006039, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone isolation without zones changed to common; foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010321, “Two pad foam vacuum gripper, two outlet manifold, common isolation valve, single stage ejector, pulsed blow-off after set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010321.

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

Terms

--- publication_id: "OT-2026-000010321" title: "Two pad foam vacuum gripper, two outlet manifold, common isolation valve, single stage ejector, pulsed blow-off after set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010321" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/position-and-presence-sensing" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" keywords: - "foam area gripping tool" - "tool-change interface" - "foam pad" - "ejector" - "isolation valve" - "manifold" - "contact detector" - "blow-off valve" - "blow off release" - "common isolation" --- # Two pad foam vacuum gripper, two outlet manifold, common isolation valve, single stage ejector, pulsed blow-off after 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 contact detector and one blow-off valve. When the foam pads reach the workpiece, the foam pads are evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a foam-pad vacuum gripping tool: two foam pads carried on a tool-change interface, fed by an ejector. It is arranged for cutting part of the circuit while the rest holds vacuum, starting the cycle at the moment of contact, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] **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 closed cell foam. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [0005] **One 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 contact detector.** The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0008] **One blow-off valve.** The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given after set-down. [0009] The foam pads 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 isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0013] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0014] Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads. [0015] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0016] The blow-off valve is connected to the circuit at the line downstream of the isolation valve, so that compressed air can be driven back through the circuit to the face. [0017] The robot side of the tool-change interface is bolted to the robot flange. [0018] The ejector is fed from the compressed air supply of the cell. [0019] The blow-off valve is fed from the compressed air supply of the cell. [0020] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0021] The isolation valve, 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 foam pads reach the workpiece, the foam pads are evacuated by the ejector. - After the foam pads have reached the workpiece, the isolation valve is closed by the cell controller. - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. - The workpiece is held until the blow-off valve has opened the circuit. [0028] The cell controller reads the contact detector (on the frame) and commands the blow-off valve, the isolation valve, the tool-change interface; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0029] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: closed cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); 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 contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0030] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0031] The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece. [0032] 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 [0033] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10163334-B1, US-11858125-B2, US-2022339798-A1, US-8006968-B2, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0034] This publication supersedes OT-2026-000006039, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone isolation without zones changed to common; foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. OPENTECHNICAL PUBLICATION OT-2026-000010321 Two pad foam vacuum gripper, two outlet manifold, common isolation valve, single stage ejector, pulsed blow-off after set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010321 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 contact detector and one blow-off valve. When the foam pads reach the workpiece, the foam pads are evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a foam-pad vacuum gripping tool: two foam pads carried on a tool-change interface, fed by an ejector. It is arranged for cutting part of the circuit while the rest holds vacuum, starting the cycle at the moment of contact, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] 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 closed cell foam. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [0005] One 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 contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0008] One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given after set-down. [0009] The foam pads 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 isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0013] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0014] Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads. [0015] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0016] The blow-off valve is connected to the circuit at the line downstream of the isolation valve, so that compressed air can be driven back through the circuit to the face. [0017] The robot side of the tool-change interface is bolted to the robot flange. [0018] The ejector is fed from the compressed air supply of the cell. [0019] The blow-off valve is fed from the compressed air supply of the cell. [0020] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0021] The isolation valve, 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 [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] - After the foam pads have reached the workpiece, the isolation valve is closed by the cell controller. [0025] - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. [0026] - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. [0027] - The workpiece is held until the blow-off valve has opened the circuit. [0028] The cell controller reads the contact detector (on the frame) and commands the blow-off valve, the isolation valve, the tool-change interface; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0029] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: closed cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); 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 contact detector: on the frame (sets where the presence of the workpiece is detected); duration of the blow-off valve: a short pulse (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0030] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0031] The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece. [0032] 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 [0033] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10163334-B1, US-11858125-B2, US-2022339798-A1, US-8006968-B2, US-8132312-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0034] This publication supersedes OT-2026-000006039, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone isolation without zones changed to common; foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010321 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010321 { "abstract": "A foam-pad vacuum gripping tool comprising one tool-change interface, two foam pads, one ejector, one isolation valve, one manifold, one contact detector and one blow-off valve. When the foam pads reach the workpiece, the foam pads are evacuated by the ejector. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. 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This publication supersedes OT-2026-000006040. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010322

Foam pad vacuum gripper, four zone face, plant vacuum fed, supply line pressure sensor, vented after set-down, on a tool changer

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010322
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Tool Changers
Document SHA-256: 9aabe62c5a463ca2371dea4237446f51119d1e31ca590d310ceb7b984544a987

Abstract

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

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a 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, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

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

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

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

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

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

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

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

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

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

[0013]The robot side of the tool-change interface is bolted to the robot flange.

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

3. Operating sequence and conditions

[0015]

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

[0016]

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

[0017]

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

[0018]

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

[0019]

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

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

4. Parameters and operating assumptions

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

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

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

[0024]The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool.

5. Provenance and status

[0026]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-11427405-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0027]This publication supersedes OT-2026-000006040, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: sensor placement moved from an absent manifold to the supply line; release element added: a vent valve after set-down (the legacy assembly had no way to let go); foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010322, “Foam pad vacuum gripper, four zone face, plant vacuum fed, supply line pressure sensor, vented after set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010322.

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

Terms

--- publication_id: "OT-2026-000010322" title: "Foam pad vacuum gripper, four zone face, plant vacuum fed, supply line pressure sensor, vented after set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010322" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" keywords: - "zoned vacuum tool" - "tool-change interface" - "foam pad" - "plant vacuum connection" - "zone branch" - "pressure sensor" - "vent valve" - "plant vacuum supply" - "pressure sensing" - "release control" --- # Foam pad vacuum gripper, four zone face, plant vacuum fed, supply line pressure sensor, vented after set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one plant vacuum connection, four zone branches, one pressure sensor and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a 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, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] **One plant vacuum connection.** The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] **Four zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] **One pressure sensor.** The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0007] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The foam pad is carried on the tool side of the tool-change interface. [0009] The four zone branches are taken from a branch junction on the plant vacuum connection, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The pressure sensor is tapped into the line between the plant vacuum connection and the distribution and reads the pressure of the whole circuit. [0012] The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated. [0013] The robot side of the tool-change interface is bolted to the robot flange. [0014] The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller. ## 3. Operating sequence and conditions - When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. - The workpiece may not be lifted unless the pressure sensor signals a secure grip. - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. - The workpiece is held until the vent valve has opened the circuit. [0020] The cell controller reads the pressure sensor (the common supply line) and commands the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0021] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0022] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0023] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. [0024] 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. [0025] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. ## 5. Provenance and status [0026] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-11427405-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0027] This publication supersedes OT-2026-000006040, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: sensor placement moved from an absent manifold to the supply line; release element added: a vent valve after set-down (the legacy assembly had no way to let go); foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. OPENTECHNICAL PUBLICATION OT-2026-000010322 Foam pad vacuum gripper, four zone face, plant vacuum fed, supply line pressure sensor, vented after set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010322 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one plant vacuum connection, four zone branches, one pressure sensor and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a 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, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of open cell foam. [0004] One plant vacuum connection. The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] Four zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0007] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The foam pad is carried on the tool side of the tool-change interface. [0009] The four zone branches are taken from a branch junction on the plant vacuum connection, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The pressure sensor is tapped into the line between the plant vacuum connection and the distribution and reads the pressure of the whole circuit. [0012] The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated. [0013] The robot side of the tool-change interface is bolted to the robot flange. [0014] The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller. 3. Operating sequence and conditions [0015] - When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. [0016] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0017] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0018] - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. [0019] - The workpiece is held until the vent valve has opened the circuit. [0020] The cell controller reads the pressure sensor (the common supply line) and commands the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0021] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: open cell (sets whether air passes through the pad body or only through openings cut through it); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0022] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0023] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. [0024] 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. [0025] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. 5. Provenance and status [0026] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-11427405-B1, US-11858125-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0027] This publication supersedes OT-2026-000006040, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: sensor placement moved from an absent manifold to the supply line; release element added: a vent valve after set-down (the legacy assembly had no way to let go); foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010322 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010322 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one plant vacuum connection, four zone branches, one pressure sensor and one vent valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. 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This publication supersedes OT-2026-000006041. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010323

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

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010323
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Tool Changers
Document SHA-256: d16ad7358fc56f375254981376180272495dbbeed3e3c640b899597826962c48

Abstract

A foam-pad vacuum gripping tool comprising one tool-change interface, six foam pads, one ejector, one manifold, one pressure sensor 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: six foam pads carried on a tool-change interface, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

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

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

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

[0008]The foam pads are carried on the tool side of the tool-change interface.

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

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

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

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

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

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

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

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

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

3. Operating sequence and conditions

[0018]

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

[0019]

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

[0020]

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

[0021]

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

[0022]

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

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

4. Parameters and operating assumptions

[0024]Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: six (sets how many lines can be fed from one inlet); placement of the pressure sensor: at the manifold (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

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

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

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

5. Provenance and status

[0029]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0030]This publication supersedes OT-2026-000006041, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010323, “Six pad foam vacuum gripper, six outlet manifold, single stage ejector, manifold pressure sensor, vented before set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010323.

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

Terms

--- publication_id: "OT-2026-000010323" title: "Six pad foam vacuum gripper, six outlet manifold, single stage ejector, manifold pressure sensor, vented before set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010323" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" keywords: - "foam area gripping tool" - "tool-change interface" - "foam pad" - "ejector" - "manifold" - "pressure sensor" - "vent valve" - "compressed air supply" - "drop release" - "pressure sensing" --- # Six pad foam vacuum gripper, six outlet manifold, single 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, six foam pads, one ejector, one manifold, one pressure sensor 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: six foam pads carried on a tool-change interface, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] **Six foam pads.** Each foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The count of six follows from the arrangement: one gripping element per manifold outlet. The pad is of open cell foam. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [0005] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [0006] **One pressure sensor.** The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured at the manifold. [0007] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0008] The foam pads are carried on the tool side of the tool-change interface. [0009] The manifold is fixed to the tool side of the tool-change interface. [0010] The ejector is fixed to the tool side of the tool-change interface. [0011] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0012] Each manifold outlet feeds one foam pad by its own vacuum line, so that the six outlets feed six foam pads. [0013] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0014] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0015] The robot side of the tool-change interface is bolted to the robot flange. [0016] The ejector is fed from the compressed air supply of the cell. [0017] The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller. ## 3. Operating sequence and conditions - When the foam pads reach the workpiece, the foam pads are evacuated by the 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. [0023] The cell controller reads the pressure sensor (the manifold) and commands the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: six (sets how many lines can be fed from one inlet); placement of the pressure sensor: at the manifold (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0025] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0026] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0027] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. [0028] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. ## 5. Provenance and status [0029] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0030] This publication supersedes OT-2026-000006041, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. OPENTECHNICAL PUBLICATION OT-2026-000010323 Six pad foam vacuum gripper, six outlet manifold, single stage ejector, manifold pressure sensor, vented before set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010323 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A foam-pad vacuum gripping tool comprising one tool-change interface, six foam pads, one ejector, one manifold, one pressure sensor 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: six foam pads carried on a tool-change interface, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] Six foam pads. Each foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The count of six follows from the arrangement: one gripping element per manifold outlet. The pad is of open cell foam. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [0005] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets. [0006] One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured at the manifold. [0007] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down. [0008] The foam pads are carried on the tool side of the tool-change interface. [0009] The manifold is fixed to the tool side of the tool-change interface. [0010] The ejector is fixed to the tool side of the tool-change interface. [0011] The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold. [0012] Each manifold outlet feeds one foam pad by its own vacuum line, so that the six outlets feed six foam pads. [0013] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet. [0014] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0015] The robot side of the tool-change interface is bolted to the robot flange. [0016] The ejector is fed from the compressed air supply of the cell. [0017] The vent valve is switched by the cell controller; the pressure sensor reports to the cell controller. 3. Operating sequence and conditions [0018] - When the foam pads reach the workpiece, the foam pads are evacuated by the ejector. [0019] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0020] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0021] - Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. [0022] - The workpiece is held until the vent valve has opened the circuit. [0023] The cell controller reads the pressure sensor (the manifold) and commands the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: open cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: six (sets how many lines can be fed from one inlet); placement of the pressure sensor: at the manifold (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0025] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here. [0026] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0027] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. [0028] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. 5. Provenance and status [0029] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0030] This publication supersedes OT-2026-000006041, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010323 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010323 { "abstract": "A foam-pad vacuum gripping tool comprising one tool-change interface, six foam pads, one ejector, one manifold, one pressure sensor 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-2026-000010323", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "robotics-automation/end-effectors/tool-changers" ], "extent": { "figures": 0, "paragraphs": 30, "words": 1048 }, "figures": [], "files": [ { "bytes": 18254, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "64eaab5d24ca3fcc42ca5a97b4c622c5f402c15b7cd7e57fdbcb0dd7b047ff61" }, { "bytes": 7726, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "d638aa1218ae7a152c3d87849c001ee5cc531e62d598bf433a56ce58350bd7cb" }, { "bytes": 7415, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "d16ad7358fc56f375254981376180272495dbbeed3e3c640b899597826962c48" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000010323/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "foam area gripping tool", "tool-change interface", "foam pad", "ejector", "manifold", "pressure sensor", "vent valve", "compressed air supply", "drop release", "pressure sensing" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000010323", "published_at": "2026-09-17T08:11:52.445886Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000006041", "title": "Six pad foam vacuum gripper, six outlet manifold, single stage ejector, manifold pressure sensor, vented before set-down, on a tool changer", "uuid": "01a0ae6c-0ee5-7355-b09e-5e4832955599" } MloAOPJkAW9xFiM9X+XI59ibbBujs9wHKY/eA77wawCZLZlj6ZeOFipkKcDH9FRSDiojvbaGhWdZMNggL1gcDg== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: MloAOPJkAW9xFiM9X+XI59ibbBujs9wHKY/eA77wawCZLZlj6ZeOFipkKcDH9FRSDiojvbaGhWdZMNggL1gcDg== {"files":[{"bytes":19295,"name":"index.html","sha256":"e120ca9d00d9141934dd70ad21d2c00377e0a15f6fc1251555eb9e68dad549d1"},{"bytes":8573,"name":"publication.md","sha256":"f63e36bf1cd65ecf901a0435b70c94bdec12264a3deb1021ed7da10f467656b5"},{"bytes":8258,"name":"publication.txt","sha256":"2562b0595900c7b6897ed368e3ffd836fe4b8c5cd6a491ee4262502ca62544e6"},{"bytes":2821,"name":"manifest.json","sha256":"c01da19f810d79979eb64e99055902ea5ee0f818978e4d454a041e4080dfeb3c"},{"bytes":89,"name":"manifest.sig","sha256":"ae5b700e1e06781bfc308f6558512d33d91b735aff466348e2d5aaf756ddc79e"},{"bytes":227,"name":"manifest.sig.txt","sha256":"77a59351679c467dde28404a71556bc1411ef38a50e46ff38ad9345c0a2ec5db"}],"publication_id":"OT-2026-000010324"} Two cup vacuum gripper, two zone face, common isolation valve, single stage ejector, supply line pressure sensor, vented after set-down, on a tool changer - OpenTechnical OT-2026-000010324

This publication supersedes OT-2026-000006042. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010324

Two cup vacuum gripper, two zone face, common isolation valve, single stage ejector, supply line pressure sensor, vented after set-down, on a tool changer

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010324
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Vacuum Sensors, Valves and Manifolds, Tool Changers
Document SHA-256: 2562b0595900c7b6897ed368e3ffd836fe4b8c5cd6a491ee4262502ca62544e6

Abstract

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

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: two suction cups carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, cutting part of the circuit while the rest holds vacuum, verifying that the workpiece is held before the arm moves, controlling the moment of release 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.

[0007]One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line.

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

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

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

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

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

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

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

[0015]The vent valve is connected to the circuit at the line downstream of the isolation valve and opens that circuit to atmosphere when it is actuated.

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

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

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

[0019]The isolation valve, the vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensor reports to the cell controller.

3. Operating sequence and conditions

[0020]

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

[0021]

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

[0022]

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

[0023]

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

[0024]

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

[0025]

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

[0026]

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

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

4. Parameters and operating assumptions

[0028]Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); 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: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

[0029]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.

[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-10163334-B1, US-11427405-B1, US-11858125-B2, US-2016214812-A1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0032]This publication supersedes OT-2026-000006042, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: sensor placement moved from an absent manifold to the supply line; release element added: a vent valve after set-down (the legacy assembly had no way to let go).

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010324, “Two cup vacuum gripper, two zone face, common isolation valve, single stage ejector, supply line pressure sensor, vented after set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010324.

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

Terms

--- publication_id: "OT-2026-000010324" title: "Two cup vacuum gripper, two zone face, common isolation valve, single stage ejector, supply line pressure sensor, vented after set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010324" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" keywords: - "zoned vacuum tool" - "tool-change interface" - "suction cup" - "ejector" - "isolation valve" - "zone branch" - "pressure sensor" - "vent valve" - "common isolation" - "compressed air supply" --- # Two cup vacuum gripper, two zone face, common isolation valve, single stage ejector, supply line pressure sensor, vented after set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, two suction cups, one ejector, one isolation valve, two zone branches, one pressure sensor and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: two suction cups carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, cutting part of the circuit while the rest holds vacuum, verifying that the workpiece is held before the arm moves, controlling the moment of release and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] **Two suction cups.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of two follows from the arrangement: one gripping element per zone branch. The suction cups are of the flat form. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [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] **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 vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0009] The suction cups are carried on the tool side of the tool-change interface. [0010] The ejector is fixed to the tool side of the tool-change interface. [0011] The isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0012] The two zone branches are taken from a branch junction on the isolation valve outlet, so that each branch carries the vacuum of its own zone only. [0013] Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line. [0014] The pressure sensor is tapped into the line between the ejector and the distribution and reads the pressure of the whole circuit. [0015] The vent valve is connected to the circuit at the line downstream of the isolation valve and opens that circuit to atmosphere when it is actuated. [0016] The robot side of the tool-change interface is bolted to the robot flange. [0017] The ejector is fed from the compressed air supply of the cell. [0018] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0019] The isolation valve, the vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensor reports to the cell controller. ## 3. Operating sequence and conditions - When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. - The workpiece may not be lifted unless the pressure sensor signals a secure grip. - After the 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. - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. - The workpiece is held until the vent valve has opened the circuit. [0027] The cell controller reads the pressure sensor (the common supply line) and commands the isolation valve, the tool-change interface, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0028] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); 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: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0029] 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. [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-10163334-B1, US-11427405-B1, US-11858125-B2, US-2016214812-A1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0032] This publication supersedes OT-2026-000006042, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: sensor placement moved from an absent manifold to the supply line; release element added: a vent valve after set-down (the legacy assembly had no way to let go). OPENTECHNICAL PUBLICATION OT-2026-000010324 Two cup vacuum gripper, two zone face, common isolation valve, single stage ejector, supply line pressure sensor, vented after set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010324 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, two suction cups, one ejector, one isolation valve, two zone branches, one pressure sensor and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: two suction cups carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, cutting part of the circuit while the rest holds vacuum, verifying that the workpiece is held before the arm moves, controlling the moment of release and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] Two suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of two follows from the arrangement: one gripping element per zone branch. The suction cups are of the flat form. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has one stage. [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] 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 vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0009] The suction cups are carried on the tool side of the tool-change interface. [0010] The ejector is fixed to the tool side of the tool-change interface. [0011] The isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0012] The two zone branches are taken from a branch junction on the isolation valve outlet, so that each branch carries the vacuum of its own zone only. [0013] Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line. [0014] The pressure sensor is tapped into the line between the ejector and the distribution and reads the pressure of the whole circuit. [0015] The vent valve is connected to the circuit at the line downstream of the isolation valve and opens that circuit to atmosphere when it is actuated. [0016] The robot side of the tool-change interface is bolted to the robot flange. [0017] The ejector is fed from the compressed air supply of the cell. [0018] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0019] The isolation valve, the vent valve and the lock of the tool-change interface are switched by the cell controller; the pressure sensor reports to the cell controller. 3. Operating sequence and conditions [0020] - When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. [0021] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0022] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0023] - After the vacuum level has exceeded the gripping threshold, the isolation valve is closed by the cell controller. [0024] - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. [0025] - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. [0026] - The workpiece is held until the vent valve has opened the circuit. [0027] The cell controller reads the pressure sensor (the common supply line) and commands the isolation valve, the tool-change interface, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0028] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); 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: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0029] 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. [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-10163334-B1, US-11427405-B1, US-11858125-B2, US-2016214812-A1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0032] This publication supersedes OT-2026-000006042, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: sensor placement moved from an absent manifold to the supply line; release element added: a vent valve after set-down (the legacy assembly had no way to let go). ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010324 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010324 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, two suction cups, one ejector, one isolation valve, two zone branches, one pressure sensor and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000010324", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "robotics-automation/end-effectors/tool-changers" ], "extent": { "figures": 0, "paragraphs": 32, "words": 1183 }, "figures": [], "files": [ { "bytes": 19295, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "e120ca9d00d9141934dd70ad21d2c00377e0a15f6fc1251555eb9e68dad549d1" }, { "bytes": 8573, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "f63e36bf1cd65ecf901a0435b70c94bdec12264a3deb1021ed7da10f467656b5" }, { "bytes": 8258, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "2562b0595900c7b6897ed368e3ffd836fe4b8c5cd6a491ee4262502ca62544e6" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000010324/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "tool-change interface", "suction cup", "ejector", "isolation valve", "zone branch", "pressure sensor", "vent valve", "common isolation", "compressed air supply" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000010324", "published_at": "2026-09-17T08:11:52.445886Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000006042", "title": "Two cup vacuum gripper, two zone face, common isolation valve, single stage ejector, supply line pressure sensor, vented after set-down, on a tool changer", "uuid": "01a0ae6c-0ee5-70e9-9c49-b6f3e406ae46" } pM8eVKkYhB8IHLGJWYE2XcatuWFJyRmRRRjzvDMvp6jJ+StdbdV2zwTw8v1uZ9GSEWxiQBOxPwTUFAjuGyc3Bw== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: pM8eVKkYhB8IHLGJWYE2XcatuWFJyRmRRRjzvDMvp6jJ+StdbdV2zwTw8v1uZ9GSEWxiQBOxPwTUFAjuGyc3Bw== {"files":[{"bytes":17009,"name":"index.html","sha256":"2cee50a8a02573dc232b1368c9e21e9afc459ccd53225660eee6373d846c4aef"},{"bytes":6793,"name":"publication.md","sha256":"f68f755104475547e69b8ec139ee9b1d48c43a65e519e66a0627d74af29cddb6"},{"bytes":6517,"name":"publication.txt","sha256":"5bdce3c32953350d73ad184b4a4043baa1df8b4e63e37c79bbd65067d273f31b"},{"bytes":2791,"name":"manifest.json","sha256":"05daabde72258334fd668fa65d19b583f10c9e48a086bf81bbfa5dcc2a9e51a4"},{"bytes":89,"name":"manifest.sig","sha256":"65f8f591f3dd81b6dd26b12071249987f8c79fd4c66665e4e45e49470eec3bef"},{"bytes":227,"name":"manifest.sig.txt","sha256":"14f67112a4eae355567ec89926a17c909b6f17b09e8a80e182bf06b89665c2c3"}],"publication_id":"OT-2026-000010325"} Single cup vacuum gripper, common isolation valve, pump fed, vented before set-down, on a tool changer - OpenTechnical OT-2026-000010325

This publication supersedes OT-2026-000006043. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010325

Single cup vacuum gripper, common isolation valve, pump fed, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010325
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Tool Changers, Vacuum Generation
Document SHA-256: 5bdce3c32953350d73ad184b4a4043baa1df8b4e63e37c79bbd65067d273f31b

Abstract

A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one vacuum pump, one isolation valve and one vent valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the 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: one suction cup carried on a tool-change interface, fed by a vacuum pump. It is arranged for cutting part of the circuit while the rest holds vacuum, controlling the moment of release and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0003]One suction cup. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the flat form.

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

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

[0006]One 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.

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

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

[0009]The isolation valve is placed in the line from the vacuum pump, so that closing the valve cuts the whole circuit from the supply.

[0010]The suction cup is connected to the isolation valve outlet by a single vacuum line, so that the face is evacuated through that line.

[0011]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.

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

[0013]The pump motor is supplied from the electrical supply of the cell.

[0014]The isolation valve and the vent valve are switched by the cell controller.

3. Operating sequence and conditions

[0015]

When the suction cup reaches the workpiece, the suction cup is evacuated by the vacuum pump.

[0016]

After the suction cup has reached the workpiece, the isolation valve is closed by the cell controller.

[0017]

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

[0018]

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.

[0019]

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

[0020]The cell controller commands the isolation valve, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0021]Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); form of the suction cup: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; 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).

[0022]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.

[0023]The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool.

5. Provenance and status

[0024]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10163334-B1, US-11427405-B1, US-11858125-B2, US-2016214812-A1, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0025]This publication supersedes OT-2026-000006043, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010325, “Single cup vacuum gripper, common isolation valve, pump fed, vented before set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010325.

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

Terms

--- publication_id: "OT-2026-000010325" title: "Single cup vacuum gripper, common isolation valve, pump fed, vented before set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010325" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" keywords: - "discrete suction cup tool" - "tool-change interface" - "suction cup" - "vacuum pump" - "isolation valve" - "vent valve" - "common isolation" - "drop release" - "electric actuation" - "release control" --- # Single cup vacuum gripper, common isolation valve, pump fed, vented before set-down, on a tool changer ## Abstract A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one vacuum pump, one isolation valve and one vent valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the 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: one suction cup carried on a tool-change interface, fed by a vacuum pump. It is arranged for cutting part of the circuit while the rest holds vacuum, 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] **One suction cup.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the flat form. [0004] **One vacuum pump.** The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] **One isolation valve.** The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] **One 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. [0007] The suction cup is carried on the tool side of the tool-change interface. [0008] The vacuum pump is fixed to the tool side of the tool-change interface. [0009] The isolation valve is placed in the line from the vacuum pump, so that closing the valve cuts the whole circuit from the supply. [0010] The suction cup is connected to the isolation valve outlet by a single vacuum line, so that the face is evacuated through that line. [0011] 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. [0012] The robot side of the tool-change interface is bolted to the robot flange. [0013] The pump motor is supplied from the electrical supply of the cell. [0014] The isolation valve and the vent valve are switched by the cell controller. ## 3. Operating sequence and conditions - When the suction cup reaches the workpiece, the suction cup is evacuated by the vacuum pump. - After the suction cup has reached the workpiece, the isolation valve is closed by the cell controller. - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. - Before the workpiece reaches the set-down position, the 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. [0020] The cell controller commands the isolation valve, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0021] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); form of the suction cup: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; 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). [0022] 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. [0023] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. ## 5. Provenance and status [0024] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10163334-B1, US-11427405-B1, US-11858125-B2, US-2016214812-A1, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0025] This publication supersedes OT-2026-000006043, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. OPENTECHNICAL PUBLICATION OT-2026-000010325 Single cup vacuum gripper, common isolation valve, pump fed, vented before set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010325 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one vacuum pump, one isolation valve and one vent valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the 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: one suction cup carried on a tool-change interface, fed by a vacuum pump. It is arranged for cutting part of the circuit while the rest holds vacuum, 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] One suction cup. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the flat form. [0004] One vacuum pump. The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] One isolation valve. The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] One 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. [0007] The suction cup is carried on the tool side of the tool-change interface. [0008] The vacuum pump is fixed to the tool side of the tool-change interface. [0009] The isolation valve is placed in the line from the vacuum pump, so that closing the valve cuts the whole circuit from the supply. [0010] The suction cup is connected to the isolation valve outlet by a single vacuum line, so that the face is evacuated through that line. [0011] 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. [0012] The robot side of the tool-change interface is bolted to the robot flange. [0013] The pump motor is supplied from the electrical supply of the cell. [0014] The isolation valve and the vent valve are switched by the cell controller. 3. Operating sequence and conditions [0015] - When the suction cup reaches the workpiece, the suction cup is evacuated by the vacuum pump. [0016] - After the suction cup has reached the workpiece, the isolation valve is closed by the cell controller. [0017] - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. [0018] - 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. [0019] - The workpiece is held until the vent valve has opened the circuit. [0020] The cell controller commands the isolation valve, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0021] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); form of the suction cup: flat (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; 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). [0022] 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. [0023] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. 5. Provenance and status [0024] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10163334-B1, US-11427405-B1, US-11858125-B2, US-2016214812-A1, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0025] This publication supersedes OT-2026-000006043, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: suction_cup material 'rubber' is not offered by the library; the source-stated value 'polyurethane' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010325 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010325 { "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one vacuum pump, one isolation valve and one vent valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the 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-2026-000010325", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "robotics-automation/end-effectors/tool-changers", "industrial-motion-power-transmission/fluid-power/vacuum-generation" ], "extent": { "figures": 0, "paragraphs": 25, "words": 900 }, "figures": [], "files": [ { "bytes": 17009, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "2cee50a8a02573dc232b1368c9e21e9afc459ccd53225660eee6373d846c4aef" }, { "bytes": 6793, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "f68f755104475547e69b8ec139ee9b1d48c43a65e519e66a0627d74af29cddb6" }, { "bytes": 6517, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "5bdce3c32953350d73ad184b4a4043baa1df8b4e63e37c79bbd65067d273f31b" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000010325/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "discrete suction cup tool", "tool-change interface", "suction cup", "vacuum pump", "isolation valve", "vent valve", "common isolation", "drop release", "electric actuation", "release control" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000010325", "published_at": "2026-09-17T08:11:52.445886Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000006043", "title": "Single cup vacuum gripper, common isolation valve, pump fed, vented before set-down, on a tool changer", "uuid": "01a0ae6c-0ee5-7b09-8b41-fe7273d82a79" } O4IfUFZPKIShYqztOXLLOqderGSFwyPvY1tsSW6Rk1VcVqc0JnSn/6AjPCDNP0mRE8FcsVnfNe9Bt0KPEpGfDA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: O4IfUFZPKIShYqztOXLLOqderGSFwyPvY1tsSW6Rk1VcVqc0JnSn/6AjPCDNP0mRE8FcsVnfNe9Bt0KPEpGfDA== {"files":[{"bytes":16989,"name":"index.html","sha256":"662fb06944fca0a86f990cbe4c00a92cbecaf1685796d7693a10bfefbd1b7167"},{"bytes":6833,"name":"publication.md","sha256":"0befcca01763e6f9901dce0bd2a2f05673b17ad31965e6abf7b77066c30e460f"},{"bytes":6517,"name":"publication.txt","sha256":"9ed9bca232531db8ab099430350d3ab715817cee760b3cac3f7d85c6911e12e1"},{"bytes":2821,"name":"manifest.json","sha256":"95681ba3797c0c59f2cd948226927cbbb79a66fab739b11adcd29e510265a59c"},{"bytes":89,"name":"manifest.sig","sha256":"900f3f2c73ab0204d343184301fc2350724535a3e26d83a875aa512388982dc7"},{"bytes":227,"name":"manifest.sig.txt","sha256":"76ee95bb25455621c17a49af9b8e59a5ab56af755f09d7958700a7075314cfc4"}],"publication_id":"OT-2026-000010326"} Four pad foam vacuum gripper, four outlet manifold, plant vacuum fed, vented before set-down, on a tool changer - OpenTechnical OT-2026-000010326

This publication supersedes OT-2026-000006044. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010326

Four pad foam vacuum gripper, four outlet manifold, plant vacuum fed, vented before set-down, on a tool changer

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010326
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Tool Changers, Vacuum Supply
Document SHA-256: 9ed9bca232531db8ab099430350d3ab715817cee760b3cac3f7d85c6911e12e1

Abstract

A foam-pad vacuum gripping tool comprising one tool-change interface, four foam pads, one plant vacuum connection, one manifold and one vent valve. When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. 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: four foam pads carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for controlling the moment of release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0003]Four 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 four follows from the arrangement: one gripping element per manifold outlet. The pad is of open cell foam.

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

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

[0006]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.

[0007]The foam pads are carried on the tool side of the tool-change interface.

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

[0009]The manifold inlet is connected to the plant vacuum connection, which supplies every outlet of the manifold.

[0010]Each manifold outlet feeds one foam pad by its own vacuum line, so that the four outlets feed four foam pads.

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

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

[0013]The locking piston of the tool-change interface is fed from the compressed air supply of the cell.

[0014]The vent valve and the lock of the tool-change interface are switched by the cell controller.

3. Operating sequence and conditions

[0015]

When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection.

[0016]

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.

[0017]

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

[0018]The cell controller commands the tool-change interface, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0019]Parameter values of this embodiment: locking of the tool-change interface: 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); outlets of the manifold: four (sets how many lines can be fed from one inlet); 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).

[0020]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.

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

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

[0023]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

[0024]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-11858125-B2, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0025]This publication supersedes OT-2026-000006044, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010326, “Four pad foam vacuum gripper, four outlet manifold, plant vacuum fed, vented before set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010326.

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

Terms

--- publication_id: "OT-2026-000010326" title: "Four pad foam vacuum gripper, four outlet manifold, plant vacuum fed, vented before set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010326" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" - "industrial-components-safety-infrastructure/plant-utilities/vacuum-supply" keywords: - "foam area gripping tool" - "tool-change interface" - "foam pad" - "plant vacuum connection" - "manifold" - "vent valve" - "compressed air supply" - "drop release" - "plant vacuum supply" - "release control" --- # Four pad foam vacuum gripper, four outlet manifold, plant vacuum fed, vented before set-down, on a tool changer ## Abstract A foam-pad vacuum gripping tool comprising one tool-change interface, four foam pads, one plant vacuum connection, one manifold and one vent valve. When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. 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: four foam pads carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for 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] **Four 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 four follows from the arrangement: one gripping element per manifold outlet. The pad is of open cell foam. [0004] **One plant vacuum connection.** The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets. [0006] **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. [0007] The foam pads are carried on the tool side of the tool-change interface. [0008] The manifold is fixed to the tool side of the tool-change interface. [0009] The manifold inlet is connected to the plant vacuum connection, which supplies every outlet of the manifold. [0010] Each manifold outlet feeds one foam pad by its own vacuum line, so that the four outlets feed four foam pads. [0011] The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated. [0012] The robot side of the tool-change interface is bolted to the robot flange. [0013] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0014] The vent valve and the lock of the tool-change interface are switched by the cell controller. ## 3. Operating sequence and conditions - When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. - 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. [0018] The cell controller commands the tool-change interface, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0019] Parameter values of this embodiment: locking of the tool-change interface: 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); outlets of the manifold: four (sets how many lines can be fed from one inlet); 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). [0020] 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. [0021] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0022] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. [0023] 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 [0024] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-11858125-B2, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0025] This publication supersedes OT-2026-000006044, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. OPENTECHNICAL PUBLICATION OT-2026-000010326 Four pad foam vacuum gripper, four outlet manifold, plant vacuum fed, vented before set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010326 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A foam-pad vacuum gripping tool comprising one tool-change interface, four foam pads, one plant vacuum connection, one manifold and one vent valve. When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. 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: four foam pads carried on a tool-change interface, fed by a plant vacuum connection. It is arranged for 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] Four 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 four follows from the arrangement: one gripping element per manifold outlet. The pad is of open cell foam. [0004] One plant vacuum connection. The plant vacuum connection takes vacuum from the plant line, so the tool carries no generator of its own. [0005] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets. [0006] 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. [0007] The foam pads are carried on the tool side of the tool-change interface. [0008] The manifold is fixed to the tool side of the tool-change interface. [0009] The manifold inlet is connected to the plant vacuum connection, which supplies every outlet of the manifold. [0010] Each manifold outlet feeds one foam pad by its own vacuum line, so that the four outlets feed four foam pads. [0011] The vent valve is connected to the circuit at the plant vacuum connection and opens that circuit to atmosphere when it is actuated. [0012] The robot side of the tool-change interface is bolted to the robot flange. [0013] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0014] The vent valve and the lock of the tool-change interface are switched by the cell controller. 3. Operating sequence and conditions [0015] - When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. [0016] - 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. [0017] - The workpiece is held until the vent valve has opened the circuit. [0018] The cell controller commands the tool-change interface, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0019] Parameter values of this embodiment: locking of the tool-change interface: 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); outlets of the manifold: four (sets how many lines can be fed from one inlet); 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). [0020] 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. [0021] The open-cell foam passes air through its whole face, so an uncovered part of the face draws air through the pad itself; the supply is sized for that continuous flow and the pad relies on flow restriction through the foam, not on a seal, to hold vacuum behind a covered area. [0022] The tool carries no valve between the plant line and the face, so the plant vacuum is applied to the face whenever the plant line is live; release relies on the release element alone. [0023] 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 [0024] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10259123-B2, US-11858125-B2, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0025] This publication supersedes OT-2026-000006044, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010326 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010326 { "abstract": "A foam-pad vacuum gripping tool comprising one tool-change interface, four foam pads, one plant vacuum connection, one manifold and one vent valve. When the foam pads reach the workpiece, the foam pads are evacuated by the plant vacuum connection. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. 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This publication supersedes OT-2026-000006045. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010327

Two pad foam vacuum gripper, two outlet manifold, pump fed, sustained blow-off after set-down, on a tool changer

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010327
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Tool Changers, Vacuum Generation
Document SHA-256: 25bc9050cdba7f7ea90caf2257e2f2fe3d027c14f28f141c60d1455946c3a136

Abstract

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

1. Purpose and arrangement

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

2. Components, construction and connections

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

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

[0007]The foam pads are carried on the tool side of the tool-change interface.

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

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

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

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

[0012]The blow-off valve is connected to the circuit at the pump inlet line, so that compressed air can be driven back through the circuit to the face.

[0013]The robot side of the tool-change interface is bolted to the robot flange.

[0014]The pump motor is supplied from the electrical supply of the cell.

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

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

[0017]The blow-off valve and the lock of the tool-change interface are switched by the cell controller.

3. Operating sequence and conditions

[0018]

When the foam pads reach the workpiece, the foam pads are evacuated by the vacuum pump.

[0019]

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 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); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: open cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); outlets of the manifold: two (sets how many lines can be fed from one inlet); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: 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 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.

[0025]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

[0026]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-8006968-B2, US-8132312-B2; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0027]This publication supersedes OT-2026-000006045, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010327, “Two pad foam vacuum gripper, two outlet manifold, pump fed, sustained blow-off after set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010327.

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

Terms

--- publication_id: "OT-2026-000010327" title: "Two pad foam vacuum gripper, two outlet manifold, pump fed, sustained blow-off after set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010327" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" keywords: - "foam area gripping tool" - "tool-change interface" - "foam pad" - "vacuum pump" - "manifold" - "blow-off valve" - "blow off release" - "compressed air supply" - "electric actuation" - "release control" --- # Two pad foam vacuum gripper, two outlet manifold, pump fed, sustained blow-off after set-down, on a tool changer ## Abstract A foam-pad vacuum gripping tool comprising one tool-change interface, two foam pads, one vacuum pump, one manifold and one blow-off valve. When the foam pads reach the workpiece, the foam pads are evacuated by the vacuum pump. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a foam-pad vacuum gripping tool: two foam pads carried on a tool-change interface, fed by a vacuum pump. It is arranged for clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] **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 vacuum pump.** The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets. [0006] **One blow-off valve.** The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a sustained blast. The blow-off pulse is given after set-down. [0007] The foam pads are carried on the tool side of the tool-change interface. [0008] The manifold is fixed to the tool side of the tool-change interface. [0009] The vacuum pump is fixed to the tool side of the tool-change interface. [0010] The manifold inlet is connected to the pump inlet line, which supplies every outlet of the manifold. [0011] Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads. [0012] The blow-off valve is connected to the circuit at the pump inlet line, so that compressed air can be driven back through the circuit to the face. [0013] The robot side of the tool-change interface is bolted to the robot flange. [0014] The pump motor is supplied from the electrical supply of the cell. [0015] The blow-off valve is fed from the compressed air supply of the cell. [0016] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0017] The blow-off valve and the lock of the tool-change interface are switched by the cell controller. ## 3. Operating sequence and conditions - When the foam pads reach the workpiece, the foam pads are evacuated by the vacuum pump. - After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. - The workpiece is held until the blow-off valve has opened the circuit. [0021] The cell controller 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); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: open cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); outlets of the manifold: two (sets how many lines can be fed from one inlet); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: 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 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. [0025] 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 [0026] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-8006968-B2, US-8132312-B2; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0027] This publication supersedes OT-2026-000006045, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. OPENTECHNICAL PUBLICATION OT-2026-000010327 Two pad foam vacuum gripper, two outlet manifold, pump fed, sustained blow-off after set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010327 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A foam-pad vacuum gripping tool comprising one tool-change interface, two foam pads, one vacuum pump, one manifold and one blow-off valve. When the foam pads reach the workpiece, the foam pads are evacuated by the vacuum pump. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a foam-pad vacuum gripping tool: two foam pads carried on a tool-change interface, fed by a vacuum pump. It is arranged for clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] 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 vacuum pump. The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has two outlets. [0006] One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a sustained blast. The blow-off pulse is given after set-down. [0007] The foam pads are carried on the tool side of the tool-change interface. [0008] The manifold is fixed to the tool side of the tool-change interface. [0009] The vacuum pump is fixed to the tool side of the tool-change interface. [0010] The manifold inlet is connected to the pump inlet line, which supplies every outlet of the manifold. [0011] Each manifold outlet feeds one foam pad by its own vacuum line, so that the two outlets feed two foam pads. [0012] The blow-off valve is connected to the circuit at the pump inlet line, so that compressed air can be driven back through the circuit to the face. [0013] The robot side of the tool-change interface is bolted to the robot flange. [0014] The pump motor is supplied from the electrical supply of the cell. [0015] The blow-off valve is fed from the compressed air supply of the cell. [0016] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0017] The blow-off valve and the lock of the tool-change interface are switched by the cell controller. 3. Operating sequence and conditions [0018] - When the foam pads reach the workpiece, the foam pads are evacuated by the vacuum pump. [0019] - 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 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); material of the foam pads: sponge (sets the compliance of the sealing face); porosity of the foam pads: open cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); outlets of the manifold: two (sets how many lines can be fed from one inlet); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: 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 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. [0025] 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 [0026] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11427405-B1, US-11858125-B2, US-8006968-B2, US-8132312-B2; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0027] This publication supersedes OT-2026-000006045, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010327 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010327 { "abstract": "A foam-pad vacuum gripping tool comprising one tool-change interface, two foam pads, one vacuum pump, one manifold and one blow-off valve. When the foam pads reach the workpiece, the foam pads are evacuated by the vacuum pump. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000010327", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "robotics-automation/end-effectors/tool-changers", "industrial-motion-power-transmission/fluid-power/vacuum-generation" ], "extent": { "figures": 0, "paragraphs": 27, "words": 934 }, "figures": [], "files": [ { "bytes": 17240, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "7d141a3bd15c1332fa1c0962b3a8d069b80ccacb68bee1c9620e36cd17bb657e" }, { "bytes": 6987, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "0081e7f80afbb7900c5305202c5fd9a39b90002b387447a11d5e66a67a54795a" }, { "bytes": 6682, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "25bc9050cdba7f7ea90caf2257e2f2fe3d027c14f28f141c60d1455946c3a136" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000010327/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "foam area gripping tool", "tool-change interface", "foam pad", "vacuum pump", "manifold", "blow-off valve", "blow off release", "compressed air supply", "electric actuation", "release control" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000010327", "published_at": "2026-09-17T08:11:52.445886Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000006045", "title": "Two pad foam vacuum gripper, two outlet manifold, pump fed, sustained blow-off after set-down, on a tool changer", "uuid": "01a0ae6c-0ee5-7f1a-bfd1-0547c882773d" } Z4ZP1kfYqg2YlcfrQAFPxzEJFvs6Nsvg8/MofKMP6EzX17u4AbLL+Nauk9BLhfz61B84u+4nGhFY2yS/kDdYCg== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: Z4ZP1kfYqg2YlcfrQAFPxzEJFvs6Nsvg8/MofKMP6EzX17u4AbLL+Nauk9BLhfz61B84u+4nGhFY2yS/kDdYCg== {"files":[{"bytes":17449,"name":"index.html","sha256":"a1ee9be24e1d79f79d5ab367bde6fef9b99fc17d08cf6c3d438c4f830c1b00bf"},{"bytes":7224,"name":"publication.md","sha256":"b3fb8b46dc5826c875d2858b54268266b79a3c2a435430758f580f7bd46cc1d5"},{"bytes":6931,"name":"publication.txt","sha256":"c7dfae7bf7b9a734e73814a654fbba882a3d97f9ac79f6d2d6266c098d8c1b5b"},{"bytes":2772,"name":"manifest.json","sha256":"c32e0d6f1dd631c8a10541f278da55e9c16e90b70890190eadb1b60a2ef83970"},{"bytes":89,"name":"manifest.sig","sha256":"e3c516f97266a6a0facacd01076a3e96bdcd0cad043088fa1958be048a0d9f64"},{"bytes":227,"name":"manifest.sig.txt","sha256":"6297bbcc0ab9464d15b0318894ec89e803e5872874898959a58d090ecb625ce3"}],"publication_id":"OT-2026-000010328"} Foam pad vacuum gripper, four zone face, two stage ejector, sustained blow-off before set-down, on a tool changer - OpenTechnical OT-2026-000010328

This publication supersedes OT-2026-000006046. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010328

Foam pad vacuum gripper, four zone face, two stage ejector, sustained blow-off before set-down, on a tool changer

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010328
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Tool Changers, Vacuum Generation
Document SHA-256: c7dfae7bf7b9a734e73814a654fbba882a3d97f9ac79f6d2d6266c098d8c1b5b

Abstract

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

1. Purpose and arrangement

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

2. Components, construction and connections

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

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

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

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

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

[0011]The 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 blow-off valve is switched by the cell controller.

3. Operating sequence and conditions

[0016]

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

[0017]

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.

[0018]

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

[0019]The cell controller commands the blow-off valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0020]Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: closed cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down).

[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.

[0023]The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece.

[0024]The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool.

5. Provenance and status

[0025]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11858125-B2, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0026]This publication supersedes OT-2026-000006046, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010328, “Foam pad vacuum gripper, four zone face, two stage ejector, sustained blow-off before set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010328.

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

Terms

--- publication_id: "OT-2026-000010328" title: "Foam pad vacuum gripper, four zone face, two stage ejector, sustained blow-off before set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010328" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" keywords: - "zoned vacuum tool" - "tool-change interface" - "foam pad" - "ejector" - "zone branch" - "blow-off valve" - "blow off release" - "compressed air supply" - "drop release" - "release control" --- # Foam pad vacuum gripper, four zone face, two stage ejector, sustained blow-off before set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of closed cell foam. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has two stages. [0005] **Four zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] **One blow-off valve.** The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a sustained blast. The blow-off pulse is given before set-down. [0007] The foam pad is carried on the tool side of the tool-change interface. [0008] The ejector is fixed to the tool side of the tool-change interface. [0009] The four zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The 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 blow-off valve is switched by the cell controller. ## 3. Operating sequence and conditions - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. - Before the workpiece reaches the set-down position, the 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. [0019] The cell controller commands the blow-off valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0020] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: closed cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0021] 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. [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. [0023] The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece. [0024] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. ## 5. Provenance and status [0025] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11858125-B2, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0026] This publication supersedes OT-2026-000006046, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. OPENTECHNICAL PUBLICATION OT-2026-000010328 Foam pad vacuum gripper, four zone face, two stage ejector, sustained blow-off before set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010328 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, clearing the face at release, holding a workpiece that a rigid lip cannot seal against and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a mechanical lock. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of closed cell foam. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has two stages. [0005] Four zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a sustained blast. The blow-off pulse is given before set-down. [0007] The foam pad is carried on the tool side of the tool-change interface. [0008] The ejector is fixed to the tool side of the tool-change interface. [0009] The four zone branches are taken from a branch junction on the ejector outlet, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The 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 blow-off valve is switched by the cell controller. 3. Operating sequence and conditions [0016] - When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. [0017] - 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. [0018] - The workpiece is held until the blow-off valve has opened the circuit. [0019] The cell controller commands the blow-off valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0020] Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: closed cell (sets whether air passes through the pad body or only through openings cut through it); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: before set-down (sets whether the pulse assists a drop release or clears the face after set-down). [0021] 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. [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. [0023] The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece. [0024] The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool. 5. Provenance and status [0025] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-11858125-B2, US-8132312-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0026] This publication supersedes OT-2026-000006046, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010328 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010328 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one ejector, four zone branches and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the ejector. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. 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This publication supersedes OT-2026-000006048. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010329

Foam pad vacuum gripper, four zone face, pump fed, pulsed blow-off before set-down

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010329
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Vacuum Generation, Vacuum Safety Systems
Document SHA-256: aefa8e1ee395cd047e106c5fced0f6271643c7381496a4b999c6dda553ef1206

Abstract

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

1. Purpose and arrangement

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

2. Components, construction and connections

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

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

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

[0006]One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given before set-down.

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

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

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

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

[0011]The blow-off valve is connected to the circuit at the pump inlet line, so that compressed air can be driven back through the circuit to the face.

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

[0013]The pump motor is supplied from the electrical 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.

3. Operating sequence and conditions

[0016]

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

[0017]

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.

[0018]

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

[0019]The cell controller commands the blow-off valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0020]Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: closed cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); 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).

[0022]The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again.

5. Provenance and status

[0024]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10549431-B2, US-11427405-B1, US-8132312-B2, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0025]This publication supersedes OT-2026-000006048, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010329, “Foam pad vacuum gripper, four zone face, pump fed, pulsed blow-off before set-down,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010329.

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

Terms

--- publication_id: "OT-2026-000010329" title: "Foam pad vacuum gripper, four zone face, pump fed, pulsed blow-off before set-down" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010329" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" - "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" keywords: - "zoned vacuum tool" - "mounting flange" - "foam pad" - "vacuum pump" - "zone branch" - "blow-off valve" - "blow off release" - "compressed air supply" - "drop release" - "electric actuation" --- # Foam pad vacuum gripper, four zone face, pump fed, pulsed blow-off before set-down ## Abstract A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one vacuum pump, four zone branches and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a vacuum pump. It is arranged for handling workpieces that do not cover the whole gripping face, clearing the face at release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One mounting flange.** The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] **One foam pad.** The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of closed cell foam. [0004] **One vacuum pump.** The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] **Four zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] **One 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. [0007] The foam pad is carried on the tool side of the mounting flange. [0008] The vacuum pump is fixed to the tool side of the mounting flange. [0009] The four zone branches are taken from a branch junction on the pump inlet line, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The blow-off valve is connected to the circuit at the pump inlet line, so that compressed air can be driven back through the circuit to the face. [0012] The robot side of the mounting flange is bolted to the robot flange. [0013] The pump motor is supplied from the electrical 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. ## 3. Operating sequence and conditions - When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. - Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. - The workpiece is held until the blow-off valve has opened the circuit. [0019] The cell controller commands the blow-off valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0020] Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: closed cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); 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). [0021] 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. [0022] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0023] The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece. ## 5. Provenance and status [0024] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10549431-B2, US-11427405-B1, US-8132312-B2, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0025] This publication supersedes OT-2026-000006048, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. OPENTECHNICAL PUBLICATION OT-2026-000010329 Foam pad vacuum gripper, four zone face, pump fed, pulsed blow-off before set-down Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010329 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one vacuum pump, four zone branches and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: one foam pad carried on a mounting flange, fed by a vacuum pump. It is arranged for handling workpieces that do not cover the whole gripping face, clearing the face at release and holding a workpiece that a rigid lip cannot seal against. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] One foam pad. The foam pad presents a compliant face to the workpiece; the holding force is spread over the contact area rather than concentrated at a lip. The pad is of closed cell foam. [0004] One vacuum pump. The pump draws the circuit down mechanically and adds its own mass to the moving assembly. [0005] Four zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of four follows from the arrangement: one branch per zone. The distribution is divided into four zones, each fed by its own branch. [0006] One 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. [0007] The foam pad is carried on the tool side of the mounting flange. [0008] The vacuum pump is fixed to the tool side of the mounting flange. [0009] The four zone branches are taken from a branch junction on the pump inlet line, so that each branch carries the vacuum of its own zone only. [0010] Each zone line opens into its own section of the distribution chamber behind the porous face of the foam pad, so that the pad is evacuated zone by zone. [0011] The blow-off valve is connected to the circuit at the pump inlet line, so that compressed air can be driven back through the circuit to the face. [0012] The robot side of the mounting flange is bolted to the robot flange. [0013] The pump motor is supplied from the electrical 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. 3. Operating sequence and conditions [0016] - When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. [0017] - 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. [0018] - The workpiece is held until the blow-off valve has opened the circuit. [0019] The cell controller commands the blow-off valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0020] Parameter values of this embodiment: material of the foam pad: sponge (sets the compliance of the sealing face); porosity of the foam pad: closed cell (sets whether air passes through the pad body or only through openings cut through it); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); material of the zone branches: plastic; zones of the zone branches: four (sets how much of the face can be treated separately); 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). [0021] 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. [0022] The blow-off is a short pulse: the valve opens for a fraction of a second, long enough to break the seal and clear the face, and closes again. [0023] The closed-cell foam does not pass air through its body; the face is evacuated through openings cut through the pad into the distribution chamber, and the foam around each opening forms the seal against the workpiece. 5. Provenance and status [0024] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are EP-4385681-B1, US-10549431-B2, US-11427405-B1, US-8132312-B2, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0025] This publication supersedes OT-2026-000006048, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: foam_pad material 'foam' is not offered by the library; the source-stated value 'sponge' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010329 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010329 { "abstract": "A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one vacuum pump, four zone branches and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the vacuum pump. Before the workpiece reaches the set-down position, the workpiece is blown off by the blow-off valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000010329", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "industrial-motion-power-transmission/fluid-power/vacuum-generation", "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" ], "extent": { "figures": 0, "paragraphs": 25, "words": 916 }, "figures": [], "files": [ { "bytes": 16884, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "25bc060e8ace637b5f56f45cc1c4cd0f8a57125a18c011eb0e50764bc11e72c7" }, { "bytes": 6757, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "004111d0ddfeb708ca7f6d0fa8810a94b35bafe42c1d9d56c7192448552bc6bb" }, { "bytes": 6472, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "aefa8e1ee395cd047e106c5fced0f6271643c7381496a4b999c6dda553ef1206" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000010329/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "zoned vacuum tool", "mounting flange", "foam pad", "vacuum pump", "zone branch", "blow-off valve", "blow off release", "compressed air supply", "drop release", "electric actuation" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000010329", "published_at": "2026-09-17T08:11:52.445886Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000006048", "title": "Foam pad vacuum gripper, four zone face, pump fed, pulsed blow-off before set-down", "uuid": "01a0ae6c-0ee5-7e46-9fe8-e7a7d815e349" } AJG54GPPyYfYGm+UbguY7XfmEfQO8c/NKY78Sa+vglWUhftN7MVIfCmVoEKv+bqu4yTkYgSMaHzE7UnO3gbmAA== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: AJG54GPPyYfYGm+UbguY7XfmEfQO8c/NKY78Sa+vglWUhftN7MVIfCmVoEKv+bqu4yTkYgSMaHzE7UnO3gbmAA== {"files":[{"bytes":17748,"name":"index.html","sha256":"e6b9e70271d5283fff1c83fb07b71c8fc99dc9b732b6f88b02a597a5ab5ff388"},{"bytes":7375,"name":"publication.md","sha256":"725ae52b78417da8a32b42a3b5f6ae466fe1c27c0255d7d9b33754355f97b328"},{"bytes":7081,"name":"publication.txt","sha256":"1613784291a5ec551135a5aa11b0efec4cd03ba3a906575de240b274e5f0b9f6"},{"bytes":2768,"name":"manifest.json","sha256":"2925796402473b7308eb1ae2ba930480dc0c72be6beac5ea11e296b912a08554"},{"bytes":89,"name":"manifest.sig","sha256":"2ad19e72b129b9bcd1cd31c365de4882a59bb7ebc8492d67cdedc01c80cd11d9"},{"bytes":227,"name":"manifest.sig.txt","sha256":"3c59165c84d6814a0164f49870cd2a7f8356a1e772373b8cbe2ba39d78d0018e"}],"publication_id":"OT-2026-000010330"} Three cup vacuum gripper, three zone face, common isolation valve, two stage ejector, vented after set-down, on a tool changer - OpenTechnical OT-2026-000010330

This publication supersedes OT-2026-000006049. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010330

Three cup vacuum gripper, three zone face, common isolation valve, two stage ejector, vented after set-down, on a tool changer

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010330
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Tool Changers, Vacuum Generation
Document SHA-256: 1613784291a5ec551135a5aa11b0efec4cd03ba3a906575de240b274e5f0b9f6

Abstract

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

1. Purpose and arrangement

[0001]This disclosure describes a zoned vacuum gripping tool: three suction cups carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, cutting part of the circuit while the rest holds vacuum, controlling the moment of release and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.

2. Components, construction and connections

[0003]Three suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of three follows from the arrangement: one gripping element per zone branch. The suction cups are of the oval form.

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

[0006]Three zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch.

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

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

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

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

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

[0012]Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line.

[0013]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.

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

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

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

[0017]The isolation valve, the vent valve and the lock of the tool-change interface are switched by the cell controller.

3. Operating sequence and conditions

[0018]

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

[0019]

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

[0020]

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

[0021]

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

[0022]

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

[0023]The cell controller commands the isolation valve, the tool-change interface, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0024]Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); 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: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

5. Provenance and status

[0026]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10163334-B1, US-11858125-B2, US-2016214812-A1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0027]This publication supersedes OT-2026-000006049, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: release element added: a vent valve after set-down (the legacy assembly had no way to let go).

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010330, “Three cup vacuum gripper, three zone face, common isolation valve, two stage ejector, vented after set-down, on a tool changer,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010330.

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

Terms

--- publication_id: "OT-2026-000010330" title: "Three cup vacuum gripper, three zone face, common isolation valve, two stage ejector, vented after set-down, on a tool changer" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010330" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "robotics-automation/end-effectors/tool-changers" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" keywords: - "zoned vacuum tool" - "tool-change interface" - "suction cup" - "ejector" - "isolation valve" - "zone branch" - "vent valve" - "common isolation" - "compressed air supply" - "release control" --- # Three cup vacuum gripper, three zone face, common isolation valve, two stage ejector, vented after set-down, on a tool changer ## Abstract A zoned vacuum gripping tool comprising one tool-change interface, three suction cups, one ejector, one isolation valve, three zone branches and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: three suction cups carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, cutting part of the circuit while the rest holds vacuum, controlling the moment of release and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. ## 2. Components, construction and connections [0002] **One tool-change interface.** The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] **Three suction cups.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of three follows from the arrangement: one gripping element per zone branch. The suction cups are of the 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 two stages. [0005] **One isolation valve.** The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] **Three zone branches.** Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch. [0007] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The suction cups are carried on the tool side of the tool-change interface. [0009] The ejector is fixed to the tool side of the tool-change interface. [0010] The isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0011] The three zone branches are taken from a branch junction on the isolation valve outlet, so that each branch carries the vacuum of its own zone only. [0012] Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line. [0013] 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. [0014] The robot side of the tool-change interface is bolted to the robot flange. [0015] The ejector is fed from the compressed air supply of the cell. [0016] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0017] The isolation valve, the vent valve and the lock of the tool-change interface are switched by the cell controller. ## 3. Operating sequence and conditions - When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. - After the suction cups have reached the workpiece, the isolation valve is closed by the cell controller. - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. - The workpiece is held until the vent valve has opened the circuit. [0023] The cell controller commands the isolation valve, the tool-change interface, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); 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: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0025] 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 [0026] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10163334-B1, US-11858125-B2, US-2016214812-A1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0027] This publication supersedes OT-2026-000006049, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: release element added: a vent valve after set-down (the legacy assembly had no way to let go). OPENTECHNICAL PUBLICATION OT-2026-000010330 Three cup vacuum gripper, three zone face, common isolation valve, two stage ejector, vented after set-down, on a tool changer Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010330 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A zoned vacuum gripping tool comprising one tool-change interface, three suction cups, one ejector, one isolation valve, three zone branches and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a zoned vacuum gripping tool: three suction cups carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, cutting part of the circuit while the rest holds vacuum, controlling the moment of release and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock. [0003] Three suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of three follows from the arrangement: one gripping element per zone branch. The suction cups are of the 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 two stages. [0005] One isolation valve. The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] Three zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of three follows from the arrangement: one branch per zone. The distribution is divided into three zones, each fed by its own branch. [0007] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The suction cups are carried on the tool side of the tool-change interface. [0009] The ejector is fixed to the tool side of the tool-change interface. [0010] The isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0011] The three zone branches are taken from a branch junction on the isolation valve outlet, so that each branch carries the vacuum of its own zone only. [0012] Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line. [0013] 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. [0014] The robot side of the tool-change interface is bolted to the robot flange. [0015] The ejector is fed from the compressed air supply of the cell. [0016] The locking piston of the tool-change interface is fed from the compressed air supply of the cell. [0017] The isolation valve, the vent valve and the lock of the tool-change interface are switched by the cell controller. 3. Operating sequence and conditions [0018] - When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. [0019] - After the suction cups have reached the workpiece, the isolation valve is closed by the cell controller. [0020] - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. [0021] - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. [0022] - The workpiece is held until the vent valve has opened the circuit. [0023] The cell controller commands the isolation valve, the tool-change interface, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); 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: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; material of the zone branches: plastic; zones of the zone branches: three (sets how much of the face can be treated separately); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0025] 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 [0026] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10163334-B1, US-11858125-B2, US-2016214812-A1, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0027] This publication supersedes OT-2026-000006049, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: release element added: a vent valve after set-down (the legacy assembly had no way to let go). ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010330 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010330 { "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, three suction cups, one ejector, one isolation valve, three zone branches and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. 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This publication supersedes OT-2026-000006050. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010331

Four cup vacuum gripper, four outlet manifold, common isolation valve, three stage ejector, vented after set-down

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010331
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Valves and Manifolds, Vacuum Generation, Vacuum Safety Systems
Document SHA-256: f5b6c0d2618b1e3b5960cba17af16bdca2b53e5c26ce883024b275fea98ad170

Abstract

A suction-cup vacuum gripping tool comprising one mounting flange, four suction cups, one ejector, one isolation valve, one manifold and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a suction-cup vacuum gripping tool: four suction cups carried on a mounting flange, fed by an ejector. It is arranged for cutting part of the circuit while the rest holds vacuum 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]Four suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of four follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the oval form.

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

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

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

[0008]The suction cups are carried on the tool side of the mounting flange.

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

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

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

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

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

[0014]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.

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

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

[0017]The isolation valve and the vent valve are switched by the cell controller.

3. Operating sequence and conditions

[0018]

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

[0019]

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

[0020]

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

[0021]

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

[0022]

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

[0023]The cell controller commands the isolation valve, the vent valve; no sensor drives an actuator directly.

4. Parameters and operating assumptions

[0024]Parameter values of this embodiment: form of the suction cups: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; outlets of the manifold: four (sets how many lines can be fed from one inlet); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

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 US-10163334-B1, US-10549431-B2, US-2016214812-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0026]This publication supersedes OT-2026-000006050, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone isolation without zones changed to common; release element added: a vent valve after set-down (the legacy assembly had no way to let go); suction_cup material 'silicone' is not offered by the library; the source-stated value 'polyurethane' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010331, “Four cup vacuum gripper, four outlet manifold, common isolation valve, three stage ejector, vented after set-down,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010331.

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

Terms

--- publication_id: "OT-2026-000010331" title: "Four cup vacuum gripper, four outlet manifold, common isolation valve, three stage ejector, vented after set-down" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010331" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" - "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" keywords: - "discrete suction cup tool" - "mounting flange" - "suction cup" - "ejector" - "isolation valve" - "manifold" - "vent valve" - "common isolation" - "compressed air supply" - "release control" --- # Four cup vacuum gripper, four outlet manifold, common isolation valve, three stage ejector, vented after set-down ## Abstract A suction-cup vacuum gripping tool comprising one mounting flange, four suction cups, one ejector, one isolation valve, one manifold and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a suction-cup vacuum gripping tool: four suction cups carried on a mounting flange, fed by an ejector. It is arranged for cutting part of the circuit while the rest holds vacuum 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] **Four suction cups.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of four follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the oval form. [0004] **One ejector.** The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has three stages. [0005] **One isolation valve.** The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] **One manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets. [0007] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The suction cups are carried on the tool side of the mounting flange. [0009] The manifold is fixed to the tool side of the mounting flange. [0010] The ejector is fixed to the tool side of the mounting flange. [0011] The isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0012] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0013] Each manifold outlet feeds one suction cup by its own vacuum line, so that the four outlets feed four suction cups. [0014] 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. [0015] The robot side of the mounting flange is bolted to the robot flange. [0016] The ejector is fed from the compressed air supply of the cell. [0017] The isolation valve and the vent valve are switched by the cell controller. ## 3. Operating sequence and conditions - When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. - After the suction cups have reached the workpiece, the isolation valve is closed by the cell controller. - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. - The workpiece is held until the vent valve has opened the circuit. [0023] The cell controller commands the isolation valve, the vent valve; no sensor drives an actuator directly. ## 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: form of the suction cups: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; outlets of the manifold: four (sets how many lines can be fed from one inlet); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). ## 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 US-10163334-B1, US-10549431-B2, US-2016214812-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0026] This publication supersedes OT-2026-000006050, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone isolation without zones changed to common; release element added: a vent valve after set-down (the legacy assembly had no way to let go); suction_cup material 'silicone' is not offered by the library; the source-stated value 'polyurethane' is used. OPENTECHNICAL PUBLICATION OT-2026-000010331 Four cup vacuum gripper, four outlet manifold, common isolation valve, three stage ejector, vented after set-down Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010331 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A suction-cup vacuum gripping tool comprising one mounting flange, four suction cups, one ejector, one isolation valve, one manifold and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a suction-cup vacuum gripping tool: four suction cups carried on a mounting flange, fed by an ejector. It is arranged for cutting part of the circuit while the rest holds vacuum 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] Four suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of four follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the oval form. [0004] One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has three stages. [0005] One isolation valve. The isolation valve sits in the line it controls; closing it cuts that line without disturbing the rest of the circuit. Isolation is common. [0006] One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets. [0007] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The suction cups are carried on the tool side of the mounting flange. [0009] The manifold is fixed to the tool side of the mounting flange. [0010] The ejector is fixed to the tool side of the mounting flange. [0011] The isolation valve is placed in the line from the ejector, so that closing the valve cuts the whole circuit from the supply. [0012] The manifold inlet is connected to the isolation valve outlet, which supplies every outlet of the manifold. [0013] Each manifold outlet feeds one suction cup by its own vacuum line, so that the four outlets feed four suction cups. [0014] 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. [0015] The robot side of the mounting flange is bolted to the robot flange. [0016] The ejector is fed from the compressed air supply of the cell. [0017] The isolation valve and the vent valve are switched by the cell controller. 3. Operating sequence and conditions [0018] - When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. [0019] - After the suction cups have reached the workpiece, the isolation valve is closed by the cell controller. [0020] - While the isolation valve is in the closed state, the vacuum downstream of the valve is maintained by the sealed gripping face. [0021] - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. [0022] - The workpiece is held until the vent valve has opened the circuit. [0023] The cell controller commands the isolation valve, the vent valve; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0024] Parameter values of this embodiment: form of the suction cups: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: three (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); control of the isolation valve: common (sets which part of the circuit the valve cuts: one branch line on its own or the whole circuit); material of the isolation valve: steel; outlets of the manifold: four (sets how many lines can be fed from one inlet); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). 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 US-10163334-B1, US-10549431-B2, US-2016214812-A1, US-8006968-B2, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0026] This publication supersedes OT-2026-000006050, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone isolation without zones changed to common; release element added: a vent valve after set-down (the legacy assembly had no way to let go); suction_cup material 'silicone' is not offered by the library; the source-stated value 'polyurethane' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010331 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010331 { "abstract": "A suction-cup vacuum gripping tool comprising one mounting flange, four suction cups, one ejector, one isolation valve, one manifold and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.", "canonical_url": "https://opentechnical.org/p/OT-2026-000010331", "categories": [ "robotics-automation/end-effectors/vacuum-grippers", "industrial-motion-power-transmission/fluid-power/valves-and-manifolds", "industrial-motion-power-transmission/fluid-power/vacuum-generation", "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems" ], "extent": { "figures": 0, "paragraphs": 26, "words": 877 }, "figures": [], "files": [ { "bytes": 16992, "media_type": "text/html; charset=utf-8", "name": "index.html", "sha256": "505075b033052edd4d5f983b84a81998a93e558f3ebc2e6f703eba6f40a046bc" }, { "bytes": 6679, "media_type": "text/markdown; charset=utf-8", "name": "publication.md", "sha256": "fc6aa92fd43607453118c0ecbf2216b591825871ffdff053bf5a99fce697b7ab" }, { "bytes": 6377, "media_type": "text/plain; charset=utf-8", "name": "publication.txt", "sha256": "f5b6c0d2618b1e3b5960cba17af16bdca2b53e5c26ce883024b275fea98ad170" } ], "integrity": { "hash_algorithm": "sha256", "keys_url": "https://opentechnical.org/integrity/keys", "record_url": "https://opentechnical.org/p/OT-2026-000010331/integrity", "signature_algorithm": "Ed25519", "signature_file": "manifest.sig", "verify_url": "https://opentechnical.org/integrity/verify" }, "keywords": [ "discrete suction cup tool", "mounting flange", "suction cup", "ejector", "isolation valve", "manifold", "vent valve", "common isolation", "compressed air supply", "release control" ], "language": "en", "license": { "name": "Creative Commons Attribution 4.0 International", "url": "https://creativecommons.org/licenses/by/4.0/" }, "publication_id": "OT-2026-000010331", "published_at": "2026-09-17T08:11:52.445886Z", "publisher": "Nebula Innovations Limited", "record_type": "disclosure", "schema": "opentechnical-publication-manifest/1.0", "supersedes": "OT-2026-000006050", "title": "Four cup vacuum gripper, four outlet manifold, common isolation valve, three stage ejector, vented after set-down", "uuid": "01a0ae6c-0ee5-7034-8c87-586b7b8d7439" } DHOk9OWaA/fInDYHYZuG8pDAYclo2tkK0lblgR7rhbmWKKSq4iF9tpc8iIuYMrPVR6OVL9RZJ6d8YvLRGcIyAw== algorithm: Ed25519 key_id: OT-SIGN-2026-01 public_key: https://opentechnical.org/integrity/keys signed_file: manifest.json signature_b64: DHOk9OWaA/fInDYHYZuG8pDAYclo2tkK0lblgR7rhbmWKKSq4iF9tpc8iIuYMrPVR6OVL9RZJ6d8YvLRGcIyAw== {"files":[{"bytes":17395,"name":"index.html","sha256":"58dc5240665ece01e32c113294d02c58a7c2cda9d8bc46e8a3d3a9c9c1f9dd13"},{"bytes":7039,"name":"publication.md","sha256":"39701d0177e4a12077c8f677493e9d87ca45a40aa45da89d75277b835162db1f"},{"bytes":6756,"name":"publication.txt","sha256":"07184f03760a94af91aa18920bd7548bd33ddda65db21398f13168bd88863b93"},{"bytes":2763,"name":"manifest.json","sha256":"0199bee49e6d077030563e4475efb048c41e36e70cff4a464fe26c4cdace81f0"},{"bytes":89,"name":"manifest.sig","sha256":"63c402fcfa3d0c21970096694fd5aa6339e6cb55b4f853dc96be7e35dc4402f4"},{"bytes":227,"name":"manifest.sig.txt","sha256":"c32016dc0af43f66facf8f1a279971f6c9087ab03aa265233ba41616aa8e66a8"}],"publication_id":"OT-2026-000010332"} Single cup vacuum gripper, single stage ejector, supply line pressure sensor, vented after set-down - OpenTechnical OT-2026-000010332

This publication supersedes OT-2026-000006051. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010332

Single cup vacuum gripper, single stage ejector, supply line pressure sensor, vented after set-down

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010332
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Vacuum Generation
Document SHA-256: 07184f03760a94af91aa18920bd7548bd33ddda65db21398f13168bd88863b93

Abstract

A suction-cup vacuum gripping tool comprising one mounting flange, one suction cup, one ejector, one pressure sensor, one contact detector and one vent valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.

1. Purpose and arrangement

[0001]This disclosure describes a suction-cup vacuum gripping tool: one suction cup carried on a mounting flange, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact and 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]One suction cup. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the oval form.

[0005]One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line.

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

[0008]The suction cup is carried on the tool side of the mounting flange.

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

[0010]The suction cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line.

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

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

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

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

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

[0016]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

[0017]

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

[0018]

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

[0019]

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

[0020]

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

[0021]

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

[0022]

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

[0023]The cell controller reads the pressure sensor (the 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

[0024]Parameter values of this embodiment: form of the suction cup: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).

5. Provenance and status

[0026]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10549431-B2, US-11427405-B1, US-2016214812-A1, US-2022339798-A1, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination.

6. Correction notice

[0027]This publication supersedes OT-2026-000006051, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone measurement without zones changed to the supply line; release element added: a vent valve after set-down (the legacy assembly had no way to let go); suction_cup material 'silicone' is not offered by the library; the source-stated value 'polyurethane' is used.

Publication information

Plain text Markdown Manifest Integrity record

Citation

OpenTechnical Publication OT-2026-000010332, “Single cup vacuum gripper, single stage ejector, supply line pressure sensor, vented after set-down,” published September 17, 2026 at 08:11:52 UTC, https://opentechnical.org/p/OT-2026-000010332.

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

Terms

--- publication_id: "OT-2026-000010332" title: "Single cup vacuum gripper, single stage ejector, supply line pressure sensor, vented after set-down" published_at: "2026-09-17T08:11:52.445886Z" canonical_url: "https://opentechnical.org/p/OT-2026-000010332" categories: - "robotics-automation/end-effectors/vacuum-grippers" - "sensors-controls-machine-vision/position-and-presence-sensing" - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors" - "industrial-motion-power-transmission/fluid-power/vacuum-generation" keywords: - "discrete suction cup tool" - "mounting flange" - "suction cup" - "ejector" - "pressure sensor" - "contact detector" - "vent valve" - "compressed air supply" - "contact sensing" - "pressure sensing" --- # Single cup vacuum gripper, single stage ejector, supply line pressure sensor, vented after set-down ## Abstract A suction-cup vacuum gripping tool comprising one mounting flange, one suction cup, one ejector, one pressure sensor, one contact detector and one vent valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. ## 1. Purpose and arrangement [0001] This disclosure describes a suction-cup vacuum gripping tool: one suction cup carried on a mounting flange, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact and 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] **One suction cup.** Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the 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 one stage. [0005] **One pressure sensor.** The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0006] **One contact detector.** The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0007] **One vent valve.** The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The suction cup is carried on the tool side of the mounting flange. [0009] The ejector is fixed to the tool side of the mounting flange. [0010] The suction cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line. [0011] The pressure sensor is tapped into the line between the ejector and the suction cup and reads the pressure of the whole circuit. [0012] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0013] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0014] The robot side of the mounting flange is bolted to the robot flange. [0015] The ejector is fed from the compressed air supply of the cell. [0016] 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 cup reaches the workpiece, the suction cup is evacuated by the ejector. - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. - The workpiece may not be lifted unless the pressure sensor signals a secure grip. - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. - The workpiece is held until the vent valve has opened the circuit. [0023] The cell controller reads the pressure sensor (the 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 [0024] Parameter values of this embodiment: form of the suction cup: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0025] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. ## 5. Provenance and status [0026] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10549431-B2, US-11427405-B1, US-2016214812-A1, US-2022339798-A1, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. ## 6. Correction notice [0027] This publication supersedes OT-2026-000006051, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone measurement without zones changed to the supply line; release element added: a vent valve after set-down (the legacy assembly had no way to let go); suction_cup material 'silicone' is not offered by the library; the source-stated value 'polyurethane' is used. OPENTECHNICAL PUBLICATION OT-2026-000010332 Single cup vacuum gripper, single stage ejector, supply line pressure sensor, vented after set-down Published: 2026-09-17T08:11:52.445886Z Permanent URL: https://opentechnical.org/p/OT-2026-000010332 Categories: Robotics & Automation > End Effectors > Vacuum Grippers ------------------------------------------------------------------------ ABSTRACT A suction-cup vacuum gripping tool comprising one mounting flange, one suction cup, one ejector, one pressure sensor, one contact detector and one vent valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a suction-cup vacuum gripping tool: one suction cup carried on a mounting flange, fed by an ejector. It is arranged for verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact and 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] One suction cup. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The suction cups are of the 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 one stage. [0005] One pressure sensor. The pressure sensor taps the line it is placed in and reports the vacuum level in that line. The pressure is measured in the supply line. [0006] One contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame. [0007] One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented after set-down. [0008] The suction cup is carried on the tool side of the mounting flange. [0009] The ejector is fixed to the tool side of the mounting flange. [0010] The suction cup is connected to the ejector outlet by a single vacuum line, so that the face is evacuated through that line. [0011] The pressure sensor is tapped into the line between the ejector and the suction cup and reads the pressure of the whole circuit. [0012] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face. [0013] The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated. [0014] The robot side of the mounting flange is bolted to the robot flange. [0015] The ejector is fed from the compressed air supply of the cell. [0016] 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 [0017] - After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller. [0018] - When the suction cup reaches the workpiece, the suction cup is evacuated by the ejector. [0019] - When the vacuum level exceeds the gripping threshold, a secure grip is signalled by the pressure sensor. [0020] - The workpiece may not be lifted unless the pressure sensor signals a secure grip. [0021] - After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. [0022] - The workpiece is held until the vent valve has opened the circuit. [0023] The cell controller reads the pressure sensor (the 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 [0024] Parameter values of this embodiment: form of the suction cup: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cup: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: one (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); placement of the pressure sensor: in the supply line (sets where in the circuit the reading is taken and what it describes); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); timing of the vent valve: after set-down (sets whether the workpiece is released before or after it is supported by the set-down surface). [0025] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference. 5. Provenance and status [0026] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10549431-B2, US-11427405-B1, US-2016214812-A1, US-2022339798-A1, WO-2008134339-A4; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0027] This publication supersedes OT-2026-000006051, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: per-zone measurement without zones changed to the supply line; release element added: a vent valve after set-down (the legacy assembly had no way to let go); suction_cup material 'silicone' is not offered by the library; the source-stated value 'polyurethane' is used. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010332 Published 2026-09-17T08:11:52.445886Z https://opentechnical.org/p/OT-2026-000010332 { "abstract": "A suction-cup vacuum gripping tool comprising one mounting flange, one suction cup, one ejector, one pressure sensor, one contact detector and one vent valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the ejector. After the workpiece has reached the set-down position, the vacuum circuit is vented by the vent valve. 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This publication supersedes OT-2026-000006052. The earlier publication remains publicly accessible and unchanged.

OT-2026-000010333

Single cup vacuum gripper, single stage ejector, supply line pressure sensor, vented before set-down

Published: September 17, 2026 at 08:11:52 UTC
Permanent URL: https://opentechnical.org/p/OT-2026-000010333
Classification: Robotics & Automation › End Effectors › Vacuum Grippers
Also classified in: Position and Presence Sensing, Vacuum Sensors, Vacuum Generation
Document SHA-256: 8e1f8fa67ad97032629b3e896d9105dc1107e819e4bde5770986f5e30f6ea552

Abstract

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