{
  "abstract": "A zoned vacuum gripping tool comprising one tool-change interface, four suction cups, one ejector, four zone branches, one contact detector 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.",
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    "robotics-automation/end-effectors/vacuum-grippers",
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    "robotics-automation/end-effectors/tool-changers"
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  "keywords": [
    "zoned vacuum tool",
    "tool-change interface",
    "suction cup",
    "ejector",
    "zone branch",
    "contact detector",
    "vent valve",
    "compressed air supply",
    "contact sensing",
    "release control"
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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-2026-000010041",
  "published_at": "2026-09-17T08:11:35.184400Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "disclosure",
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  "supersedes": "OT-2026-000005750",
  "title": "Four cup vacuum gripper, four zone face, single stage ejector, vented after set-down, on a tool changer",
  "uuid": "01a0ae6b-cb79-79b2-8b9d-4256c9998116"
}