Layin Samar da Bawul Mai Taushi Mai Lanƙwasa

1. Mai aiki yana sanya fale-falen da ke cike da kayan aikin bawul a cikin ramin sanya kaya na 1 da ramin sanya kaya na 2 don sanyawa, sannan ya sanya tiren da babu komai a cikin ramin sanya kaya na 1 da ramin sanya kaya na 2 don sanyawa.

2. Kyamarar da ke kan robot 1 tana duba kayan aikin da ke kan fale-falen a cikin ramin sanya abinci 1 don daidaita kayan aikin, kuma an manne kayan aikin 1 a cikin kayan aikin sanyawa akan teburin buffer 1.
A lokaci guda, yana riƙe da kayan aikin da aka sarrafa na 3 (robot ɗin 2 ya kama shi daga kayan aikin injin 2), yana matsawa zuwa wurin sanya kayan saukewa na 1 kuma yana sanya shi a cikin pallet ɗin yadda ake buƙata.
Kyamarar da ke kan robot 1 tana duba kayan aikin da ke kan fale-falen a cikin ramin sanya abinci na 2 don daidaita kayan aikin, kuma an manne kayan aikin 4 a cikin kayan aikin sanyawa a kan teburin ma'ajiyar 2.
A lokaci guda, yana riƙe da kayan aikin da aka sarrafa 6 (robot ɗin 3 ya kama shi daga kayan aikin injin 4), yana matsawa zuwa wurin sanya kayan saukewa na 2 kuma yana sanya shi a cikin pallet ɗin yadda ake buƙata.

3. Robot 2 yana manne kayan aikin 1 daga teburin buffer 1 kuma yana gudu zuwa kayan aikin injin 1, yana riƙe kayan aikin da aka gama 2 kuma yana manne kayan aikin 1, yana gudu zuwa kayan aikin injin 2, yana riƙe kayan aikin da aka gama 3 kuma yana manne kayan aikin 2, sannan yana gudu zuwa teburin buffer 1. Sanya kayan aikin 3. Robot 2 yana kammala zagayen.

4. Robot 3 ya riƙe kayan aikin 4 daga teburin buffering 2 ya gudu zuwa kayan aikin injin 3, ya riƙe kayan aikin da aka gama 5 ya manne kayan aikin 4, ya gudu zuwa kayan aikin injin 4, ya riƙe kayan aikin da aka gama 6 ya manne kayan aikin 5, sannan ya gudu zuwa teburin buffer 2. Sanya kayan aikin 6. Robot 3 ya kammala zagayen.