{
  "abstract": "An end effector for vacuum end-of-arm tooling with compliant bellows cups is described. The tool comprises a tool-change interface (10), a bellows cup (12), a ejector (14), a zone branch (16), a contact detector (18), and a blow-off valve (20). The arrangement addresses putting the workpiece down quickly without it sticking to the face, where a vented cup releases at the speed the circuit refills, and a light workpiece can stay stuck to a damp elastomer face long after the vacuum is gone. The description covers where the pulse is injected, when it is given relative to set-down, and how long it lasts. Every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.",
  "canonical_url": "https://opentechnical.org/p/OT-2026-000004628",
  "categories": [
    "robotics-automation/end-effectors/vacuum-grippers",
    "lifting-positioning-manipulation/vacuum-lifting/sealing-and-suction-pads",
    "lifting-positioning-manipulation/vacuum-lifting/vacuum-safety-systems",
    "sensors-controls-machine-vision/position-and-presence-sensing/inductive-sensors"
  ],
  "extent": {
    "figures": 3,
    "paragraphs": 31,
    "words": 1720
  },
  "figures": [
    {
      "caption": "Block diagram of the tool, with the medium carried by each connection.",
      "file": "figures/fig-001.svg",
      "number": "FIG-001",
      "sha256": "8db0a25c13c2151d88761658188fad4664e01fb26805e8d61121dea3ec8d423a"
    },
    {
      "caption": "Elevation of the gripping face on its mounting.",
      "file": "figures/fig-002.svg",
      "number": "FIG-002",
      "sha256": "9ec5d7e2d75544665173aabc1dfb3c7d7e618e6ffa6a4c0674aeeb27112e100b"
    },
    {
      "caption": "Signal path between the controlled elements and the cell controller.",
      "file": "figures/fig-003.svg",
      "number": "FIG-003",
      "sha256": "ea5cacb7b0d5858616f1cc52d105c285bb12451c170c10cf31f76d101aa29e2a"
    }
  ],
  "files": [
    {
      "bytes": 6647,
      "media_type": "image/svg+xml",
      "name": "figures/fig-001.svg",
      "sha256": "8db0a25c13c2151d88761658188fad4664e01fb26805e8d61121dea3ec8d423a"
    },
    {
      "bytes": 4252,
      "media_type": "image/svg+xml",
      "name": "figures/fig-002.svg",
      "sha256": "9ec5d7e2d75544665173aabc1dfb3c7d7e618e6ffa6a4c0674aeeb27112e100b"
    },
    {
      "bytes": 3360,
      "media_type": "image/svg+xml",
      "name": "figures/fig-003.svg",
      "sha256": "ea5cacb7b0d5858616f1cc52d105c285bb12451c170c10cf31f76d101aa29e2a"
    },
    {
      "bytes": 23403,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "c56ab212c924035903359a3e714ef9931945f9ad8bb29812ae26b7fb5bc68427"
    },
    {
      "bytes": 11309,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "446d49baca38c60c8b35748589787fd9955cf5b074f74bbe79c541cbaf8a02a5"
    },
    {
      "bytes": 11264,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "fe9b39038e1382efd345f17dc6910020b3b9411f3295c4fa5dd021135e3d7c3f"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000004628/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "bellows cup",
    "blow-off valve",
    "contact detector",
    "ejector",
    "tool-change interface",
    "zone branch",
    "fast release",
    "end of arm tooling",
    "plastic"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000004628",
  "published_at": "2026-09-16T07:28:42.920187Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "disclosure",
  "schema": "opentechnical-publication-manifest/1.0",
  "supersedes": null,
  "title": "Bellows cup vacuum gripper, four zone face, two stage ejector, contact triggered on the face",
  "uuid": "01a0a91e-2fa5-7f1e-bfaf-996fcaa5f17b"
}