Robotics & Automation

Robot architectures, control, perception and autonomous material movement in industrial settings.

Category CAT-000000042

Subcategories

Publications

• OT-2026-000078633
  Four bellows cup vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,324 words

  A zoned vacuum gripping tool comprising one tool-change interface, four bellows cups, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the plant vacuum connectio

• OT-2026-000078634
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, single stage ejector, vented after set-down
  September 17, 2026 · Vacuum Grippers · 938 words

  A bellows-cup vacuum gripping tool comprising one mounting flange, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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,

• OT-2026-000078635
  Four bellows cup vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down
  September 17, 2026 · Vacuum Grippers · 1,253 words

  A zoned vacuum gripping tool comprising one mounting flange, four bellows cups, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the plant vacuum connection. Bef

• OT-2026-000078636
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, single stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,043 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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 posi

• OT-2026-000078637
  Four bellows cup vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,359 words

  A zoned vacuum gripping tool comprising one tool-change interface, four bellows cups, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the plant vacuum connectio

• OT-2026-000078638
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, single stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,009 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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 posi

• OT-2026-000078639
  Four bellows cup vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,324 words

  A zoned vacuum gripping tool comprising one tool-change interface, four bellows cups, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the plant vacuum connectio

• OT-2026-000078640
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, single stage ejector, vented after set-down
  September 17, 2026 · Vacuum Grippers · 938 words

  A bellows-cup vacuum gripping tool comprising one mounting flange, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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,

• OT-2026-000078641
  Four bellows cup vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down
  September 17, 2026 · Vacuum Grippers · 1,253 words

  A zoned vacuum gripping tool comprising one mounting flange, four bellows cups, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the plant vacuum connection. Bef

• OT-2026-000078642
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, single stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,043 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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 posi

• OT-2026-000078643
  Four bellows cup vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,359 words

  A zoned vacuum gripping tool comprising one tool-change interface, four bellows cups, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the plant vacuum connectio

• OT-2026-000078644
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, single stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,009 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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 posi

• OT-2026-000078645
  Four bellows cup vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,324 words

  A zoned vacuum gripping tool comprising one tool-change interface, four bellows cups, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the plant vacuum connectio

• OT-2026-000078646
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, two stage ejector, vented after set-down
  September 17, 2026 · Vacuum Grippers · 938 words

  A bellows-cup vacuum gripping tool comprising one mounting flange, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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,

• OT-2026-000078647
  Foam pad vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down
  September 17, 2026 · Vacuum Grippers · 1,293 words

  A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. Before the work

• OT-2026-000078648
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, two stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,043 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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 posi

• OT-2026-000078649
  Foam pad vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,399 words

  A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. Before th

• OT-2026-000078650
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, two stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,009 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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 posi

• OT-2026-000078651
  Foam pad vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,364 words

  A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. Before th

• OT-2026-000078652
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, two stage ejector, vented after set-down
  September 17, 2026 · Vacuum Grippers · 938 words

  A bellows-cup vacuum gripping tool comprising one mounting flange, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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,

• OT-2026-000078653
  Foam pad vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down
  September 17, 2026 · Vacuum Grippers · 1,278 words

  A zoned vacuum gripping tool comprising one mounting flange, one foam pad, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. Before the work

• OT-2026-000078654
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, two stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,043 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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 posi

• OT-2026-000078655
  Foam pad vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,384 words

  A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. Before th

• OT-2026-000078656
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, two stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,009 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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 posi

• OT-2026-000078657
  Foam pad vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,349 words

  A zoned vacuum gripping tool comprising one tool-change interface, one foam pad, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the foam pad reaches the workpiece, the foam pad is evacuated by the plant vacuum connection. Before th

• OT-2026-000078658
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, two stage ejector, vented after set-down
  September 17, 2026 · Vacuum Grippers · 938 words

  A bellows-cup vacuum gripping tool comprising one mounting flange, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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,

• OT-2026-000078659
  Four cup vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down
  September 17, 2026 · Vacuum Grippers · 1,241 words

  A zoned vacuum gripping tool comprising one mounting flange, four suction cups, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connection. Bef

• OT-2026-000078660
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, two stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,043 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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 posi

• OT-2026-000078661
  Four cup vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,347 words

  A zoned vacuum gripping tool comprising one tool-change interface, four suction cups, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connectio

• OT-2026-000078662
  Four bellows cup vacuum gripper, four outlet manifold, common isolation valve, two stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,009 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, four bellows cups, one ejector, one isolation valve, one manifold, one contact detector 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 posi

• OT-2026-000078663
  Four cup vacuum gripper, four zone face, four outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,312 words

  A zoned vacuum gripping tool comprising one tool-change interface, four suction cups, one plant vacuum connection, one manifold, four zone branches, four pressure sensors, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connectio

• OT-2026-000078040
  Single bellows cup vacuum gripper, common isolation valve, two stage ejector, vented after set-down
  September 17, 2026 · Vacuum Grippers · 859 words

  A bellows-cup vacuum gripping tool comprising one mounting flange, one bellows cup, one ejector, one isolation valve, one contact detector 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 circui

• OT-2026-000078041
  Three cup vacuum gripper, three zone face, three outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down
  September 17, 2026 · Vacuum Grippers · 1,241 words

  A zoned vacuum gripping tool comprising one mounting flange, three suction cups, one plant vacuum connection, one manifold, three zone branches, three pressure sensors, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connection.

• OT-2026-000078042
  Single bellows cup vacuum gripper, common isolation valve, two stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 964 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector, one isolation valve, one contact detector 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

• OT-2026-000078043
  Three cup vacuum gripper, three zone face, three outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,347 words

  A zoned vacuum gripping tool comprising one tool-change interface, three suction cups, one plant vacuum connection, one manifold, three zone branches, three pressure sensors, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connec

• OT-2026-000078044
  Single bellows cup vacuum gripper, common isolation valve, two stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 930 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector, one isolation valve, one contact detector 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

• OT-2026-000078045
  Three cup vacuum gripper, three zone face, three outlet manifold, plant vacuum fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,312 words

  A zoned vacuum gripping tool comprising one tool-change interface, three suction cups, one plant vacuum connection, one manifold, three zone branches, three pressure sensors, one contact detector and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the plant vacuum connec

• OT-2026-000078046
  Single bellows cup vacuum gripper, common isolation valve, two stage ejector, vented after set-down
  September 17, 2026 · Vacuum Grippers · 859 words

  A bellows-cup vacuum gripping tool comprising one mounting flange, one bellows cup, one ejector, one isolation valve, one contact detector 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 circui

• OT-2026-000078047
  Three bellows cup vacuum gripper, three zone face, three outlet manifold, pump fed, pressure sensor per zone, pulsed blow-off before set-down
  September 17, 2026 · Vacuum Grippers · 1,252 words

  A zoned vacuum gripping tool comprising one mounting flange, three bellows cups, one vacuum pump, one manifold, three zone branches, three pressure sensors, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the vacuum pump. Before the workpiece rea

• OT-2026-000078048
  Single bellows cup vacuum gripper, common isolation valve, two stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 964 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector, one isolation valve, one contact detector 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

• OT-2026-000078049
  Three bellows cup vacuum gripper, three zone face, three outlet manifold, pump fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,358 words

  A zoned vacuum gripping tool comprising one tool-change interface, three bellows cups, one vacuum pump, one manifold, three zone branches, three pressure sensors, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the vacuum pump. Before the workpie

• OT-2026-000078050
  Single bellows cup vacuum gripper, common isolation valve, two stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 930 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector, one isolation valve, one contact detector 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

• OT-2026-000078051
  Three bellows cup vacuum gripper, three zone face, three outlet manifold, pump fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,323 words

  A zoned vacuum gripping tool comprising one tool-change interface, three bellows cups, one vacuum pump, one manifold, three zone branches, three pressure sensors, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the vacuum pump. Before the workpie

• OT-2026-000078052
  Single bellows cup vacuum gripper, common isolation valve, three stage ejector, vented after set-down
  September 17, 2026 · Vacuum Grippers · 859 words

  A bellows-cup vacuum gripping tool comprising one mounting flange, one bellows cup, one ejector, one isolation valve, one contact detector 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 circui

• OT-2026-000078053
  Three bellows cup vacuum gripper, three zone face, three outlet manifold, pump fed, pressure sensor per zone, pulsed blow-off before set-down
  September 17, 2026 · Vacuum Grippers · 1,252 words

  A zoned vacuum gripping tool comprising one mounting flange, three bellows cups, one vacuum pump, one manifold, three zone branches, three pressure sensors, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the vacuum pump. Before the workpiece rea

• OT-2026-000078054
  Single bellows cup vacuum gripper, common isolation valve, three stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 964 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector, one isolation valve, one contact detector 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

• OT-2026-000078055
  Three bellows cup vacuum gripper, three zone face, three outlet manifold, pump fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,358 words

  A zoned vacuum gripping tool comprising one tool-change interface, three bellows cups, one vacuum pump, one manifold, three zone branches, three pressure sensors, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the vacuum pump. Before the workpie

• OT-2026-000078056
  Single bellows cup vacuum gripper, common isolation valve, three stage ejector, vented after set-down
  September 17, 2026 · Vacuum Grippers · 859 words

  A bellows-cup vacuum gripping tool comprising one mounting flange, one bellows cup, one ejector, one isolation valve, one contact detector 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 circui

• OT-2026-000078057
  Three bellows cup vacuum gripper, three zone face, three outlet manifold, pump fed, pressure sensor per zone, pulsed blow-off before set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 1,323 words

  A zoned vacuum gripping tool comprising one tool-change interface, three bellows cups, one vacuum pump, one manifold, three zone branches, three pressure sensors, one contact detector and one blow-off valve. When the bellows cups reach the workpiece, the bellows cups are evacuated by the vacuum pump. Before the workpie

• OT-2026-000078058
  Single bellows cup vacuum gripper, common isolation valve, three stage ejector, vented after set-down, on a tool changer
  September 17, 2026 · Vacuum Grippers · 964 words

  A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector, one isolation valve, one contact detector 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