{
  "abstract": "An end effector for vacuum end-of-arm tooling with compliant bellows cups is described. The tool comprises a mounting flange (10), a bellows cup (12), a ejector (14), a isolation valve (16). The arrangement addresses gripping workpieces that are not at the same height, where a rigid cup that reaches the workpiece first takes the whole load while its neighbours are still in the air. The description covers how the folds take up the difference, how many folds are used, and what that does to the seal at the face. 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/sealing-and-suction-pads",
    "industrial-motion-power-transmission/fluid-power/vacuum-generation",
    "industrial-motion-power-transmission/fluid-power/valves-and-manifolds"
  ],
  "extent": {
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    "paragraphs": 25,
    "words": 1491
  },
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      "caption": "Block diagram of the tool, with the medium carried by each connection.",
      "file": "figures/fig-001.svg",
      "number": "FIG-001",
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    {
      "caption": "Elevation of the gripping face on its mounting.",
      "file": "figures/fig-002.svg",
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  "keywords": [
    "bellows cup",
    "ejector",
    "isolation valve",
    "mounting flange",
    "height compensation",
    "end of arm tooling",
    "plastic"
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  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
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  "publication_id": "OT-2026-000004411",
  "published_at": "2026-09-16T07:20:39.676398Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "disclosure",
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  "supersedes": null,
  "title": "Bellows cup vacuum gripper, per zone isolation, two stage ejector, plastic cups, two fold",
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}