{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, three bellows cups, one ejector, one isolation valve, one manifold, one pressure sensor and one vent valve. When the bellows cups reach the workpiece, the bellows 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",
    "sensors-controls-machine-vision/force-and-pressure-sensing/vacuum-sensors",
    "industrial-motion-power-transmission/fluid-power/valves-and-manifolds",
    "robotics-automation/end-effectors/tool-changers"
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  "keywords": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "ejector",
    "isolation valve",
    "manifold",
    "pressure sensor",
    "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-2026-000081004",
  "published_at": "2026-09-17T08:58:28.739380Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "disclosure",
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  "supersedes": null,
  "title": "Three bellows cup vacuum gripper, three outlet manifold, common isolation valve, three stage ejector, manifold pressure sensor, vented after set-down, on a tool changer",
  "uuid": "01a0ae96-b976-79fb-be3f-031751aa7489"
}