{
  "abstract": "An end effector for vacuum end-of-arm tooling for robotic material handling is described. The tool comprises a tool-change interface (10), a suction cup (12), a ejector (14), a isolation valve (16), a zone branch (18), and a contact detector (20), a pressure sensor (22), a blow-off valve (24). The arrangement addresses starting the vacuum at the right moment in the approach, where evacuating before the face touches the workpiece wastes air and pulls dust into the circuit, and evacuating late leaves the tool pressing on a workpiece it has not yet gripped. The description covers what detects contact, what that detection starts, and the order of the two events. Every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.",
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  "categories": [
    "robotics-automation/end-effectors/vacuum-grippers",
    "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems",
    "sensors-controls-machine-vision/position-and-presence-sensing/inductive-sensors",
    "industrial-motion-power-transmission/fluid-power/vacuum-generation"
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    "words": 2022
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      "caption": "Block diagram of the tool, with the medium carried by each connection.",
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      "number": "FIG-001",
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    {
      "caption": "Elevation of the gripping face on its mounting.",
      "file": "figures/fig-002.svg",
      "number": "FIG-002",
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      "caption": "Signal path between the controlled elements and the cell controller.",
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  "keywords": [
    "blow-off valve",
    "contact detector",
    "ejector",
    "isolation valve",
    "pressure sensor",
    "suction cup",
    "tool-change interface",
    "zone branch",
    "approach detection",
    "end of arm tooling"
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  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
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  "publication_id": "OT-2026-000004133",
  "published_at": "2026-09-16T07:12:30.937355Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Vacuum cup gripper, four zone face, common isolation valve, two stage ejector",
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}