{
  "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, four suction cups, one ejector, one isolation valve, one manifold, one pressure sensor, one contact detector and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. 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",
    "industrial-motion-power-transmission/fluid-power/valves-and-manifolds"
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  "keywords": [
    "discrete suction cup tool",
    "tool-change interface",
    "suction cup",
    "ejector",
    "isolation valve",
    "manifold",
    "pressure sensor",
    "contact detector",
    "vent valve",
    "common isolation"
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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-2026-000058393",
  "published_at": "2026-09-17T08:43:25.998432Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "disclosure",
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  "supersedes": null,
  "title": "Four cup vacuum gripper, four outlet manifold, common isolation valve, three stage ejector, supply line pressure sensor, vented before set-down, on a tool changer",
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