{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector, one isolation valve and one vent valve. When the bellows cup reaches the workpiece, the bellows 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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  "keywords": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "ejector",
    "isolation valve",
    "vent valve",
    "common isolation",
    "compressed air supply",
    "release control",
    "tool changing"
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  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
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  "publication_id": "OT-2026-000077202",
  "published_at": "2026-09-17T08:56:32.796581Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Single bellows cup vacuum gripper, common isolation valve, three stage ejector, vented after set-down, on a tool changer",
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