{
  "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, one suction cup, one plant vacuum connection, one pressure sensor, one contact detector and one vent valve. When the suction cup reaches the workpiece, the suction cup is evacuated by the plant vacuum connection. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent 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.",
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    "robotics-automation/end-effectors/vacuum-grippers",
    "sensors-controls-machine-vision/position-and-presence-sensing",
    "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors",
    "robotics-automation/end-effectors/tool-changers"
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    "words": 997
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  "keywords": [
    "discrete suction cup tool",
    "tool-change interface",
    "suction cup",
    "plant vacuum connection",
    "pressure sensor",
    "contact detector",
    "vent valve",
    "contact sensing",
    "drop release",
    "plant vacuum supply"
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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-2026-000055461",
  "published_at": "2026-09-17T08:40:53.783868Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "disclosure",
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  "supersedes": null,
  "title": "Single cup vacuum gripper, plant vacuum fed, supply line pressure sensor, vented before set-down, on a tool changer",
  "uuid": "01a0ae86-a102-740b-82d3-70ed6cc3ab53"
}