{
  "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one ejector, one contact detector and one vent valve. When the suction cup reaches the workpiece, the suction cup is 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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    "industrial-motion-power-transmission/fluid-power/vacuum-generation"
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  "keywords": [
    "discrete suction cup tool",
    "tool-change interface",
    "suction cup",
    "ejector",
    "contact detector",
    "vent valve",
    "compressed air supply",
    "contact sensing",
    "release control",
    "tool changing"
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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-2026-000011582",
  "published_at": "2026-09-17T08:12:23.703080Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": "OT-2026-000007474",
  "title": "Single cup vacuum gripper, three stage ejector, vented after set-down, on a tool changer",
  "uuid": "01a0ae6c-8900-7686-a1ac-d6a8a6f9678e"
}