---
publication_id: "OT-2026-000008663"
title: "Four cup vacuum gripper, four outlet manifold, common isolation valve, pump fed, manifold pressure sensor, pulsed blow-off before set-down"
published_at: "2026-09-17T08:10:36.030441Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000008663"
categories:
  - "robotics-automation/end-effectors/vacuum-grippers"
  - "sensors-controls-machine-vision/position-and-presence-sensing"
  - "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors"
  - "industrial-motion-power-transmission/fluid-power/valves-and-manifolds"
keywords:
  - "discrete suction cup tool"
  - "mounting flange"
  - "suction cup"
  - "vacuum pump"
  - "isolation valve"
  - "manifold"
  - "pressure sensor"
  - "contact detector"
  - "blow-off valve"
  - "blow off release"
---

# Four cup vacuum gripper, four outlet manifold, common isolation valve, pump fed, manifold pressure sensor, pulsed blow-off before set-down

## Abstract

A suction-cup vacuum gripping tool comprising one mounting flange, four suction cups, one vacuum pump, one isolation valve, one manifold, one pressure sensor, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are 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 suction-cup vacuum gripping tool: four suction cups carried on a mounting flange, fed by a vacuum pump. It is arranged for cutting part of the circuit while the rest holds vacuum, verifying that the workpiece is held before the arm moves, starting the cycle at the moment of contact 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 manifold outlet. The suction cups are of the oval 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 manifold.** The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets.

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

[0008] **One contact detector.** The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame.

[0009] **One blow-off valve.** The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a short pulse. The blow-off pulse is given before set-down.

[0010] The suction cups are carried on the tool side of the mounting flange.

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

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

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

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

[0015] Each manifold outlet feeds one suction cup by its own vacuum line, so that the four outlets feed four suction cups.

[0016] The pressure sensor is tapped into the manifold body and reads the pressure common to every outlet.

[0017] The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face.

[0018] 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.

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

[0020] The pump motor is supplied from the electrical supply of the cell.

[0021] The blow-off valve is fed from the compressed air supply of the cell.

[0022] The isolation valve and the blow-off valve are switched by the cell controller; the pressure sensor and the contact detector report to the cell controller.

## 3. Operating sequence and conditions

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

- When the suction cups reach the workpiece, the suction cups are evacuated by the vacuum pump.

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

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

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

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

- Before the workpiece reaches the set-down position, the 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.

[0031] The cell controller reads the pressure sensor (the manifold) and 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

[0032] 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); 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; outlets of the manifold: four (sets how many lines can be fed from one inlet); placement of the pressure sensor: at the manifold (sets where in the circuit the reading is taken and what it describes); placement of the contact detector: on the 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).

[0033] The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here.

[0034] The 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.

[0035] Vacuum levels are stated as gauge pressure below atmosphere. A stronger vacuum is a larger pressure difference below atmosphere, and the vacuum level 'exceeds the gripping threshold' when that difference is at least the threshold difference.

## 5. Provenance and status

[0036] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10163334-B1, US-10549431-B2, US-11427405-B1, US-2016214812-A1, US-2022339798-A1, 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

[0037] This publication supersedes OT-2026-000004342, 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 'silicone' is not offered by the library; the source-stated value 'polyurethane' is used.