{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, three bellows cups, one ejector, one manifold, one pressure sensor, one contact detector and one vent valve. When the bellows cups reach the workpiece, the bellows 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": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "ejector",
    "manifold",
    "pressure sensor",
    "contact detector",
    "vent valve",
    "compressed air supply",
    "contact sensing"
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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-2026-000075854",
  "published_at": "2026-09-17T08:55:40.814795Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "disclosure",
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  "supersedes": null,
  "title": "Three bellows cup vacuum gripper, three outlet manifold, three stage ejector, supply line pressure sensor, vented before set-down, on a tool changer",
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