{
  "abstract": "A suction-cup vacuum gripping tool comprising one tool-change interface, six suction cups, one ejector, one isolation valve, one manifold, 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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    "industrial-motion-power-transmission/fluid-power/valves-and-manifolds",
    "robotics-automation/end-effectors/tool-changers"
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  "keywords": [
    "discrete suction cup tool",
    "tool-change interface",
    "suction cup",
    "ejector",
    "isolation valve",
    "manifold",
    "contact detector",
    "vent valve",
    "common isolation",
    "compressed air 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-2026-000061345",
  "published_at": "2026-09-17T08:45:45.252443Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Six cup vacuum gripper, six outlet manifold, common isolation valve, three stage ejector, vented after set-down, on a tool changer",
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