About This Work
① Clamp A grips the area near the cap.
② With the cap facing down, the cylinder moves back and forth to vibrate the bottle and shift the remaining contents toward the clamp side, while a sensor or camera checks for residue.
③ The bottle returns to its position in step ①.
④ Clamp B grips the section above the bottom.
⑤ Clamp A moves to the bottom and grips an area with no contents left.
⑥ Clamp C holds the cap.
⑦ Clamp C rotates while pulling to remove the cap.
⑧ Clamp A moves to push out the remaining contents, while a sensor or camera checks again.
⑨ If any residue remains, step ⑦ is repeated a set number of times.
