Automated Guided Forklift

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1-AHMED IBRAHIM ABOU ISMAIL.
2-AHMED GAMAL EL DIN MOHAMED.
3-AHMED MOHAMED MAHMOUD HEBESH.
4-AHMED ALI MOHAMED EL-GZEIRY.
5-ESLAM AHMED MOHAMED BRSHAWY.
6-ABDEL RAHMAN MAGDY HASSAN SALEH.
7-ABDALLAH AHMED HUSSEIN OMER.
8-SALEM SALAH SALEM MOHAMMED.
TEAM MEMBERS
7-AES FORKLIFT

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TABLE OF CONTENTS.
1. Robot general description:........................................................................................................................... 5
 IT’S PURPOSE: .......................................................................................................................................... 5
 Main components: ................................................................................................................................... 5
2- Mechanical design: ...................................................................................................................................... 7
 Principle of working: ................................................................................................................................ 7
 Main Components.................................................................................................................................... 7
1-Base:......................................................................................................................................................... 7
2-Shaft:........................................................................................................................................................ 8
3-Sprocket: .................................................................................................................................................. 9
4-Sprocket & Chain:.................................................................................................................................... 10
5-Fork ........................................................................................................................................................ 11
6-Motor ..................................................................................................................................................... 11
3. Electrical system (control circuits):............................................................................................................. 12
1- Arduino change Microcontrollers Ic pic 16F877A: ...................................................................................... 12
a-Code Microcontrollers:............................................................................................................................ 13
b-Circuit diagram:....................................................................................................................................... 14
c-connections:............................................................................................................................................ 15
2- Bluetooth module hc-05 :- ......................................................................................................................... 16
3-adapter DC motor:-..................................................................................................................................... 16
4-test board and BCB board:-......................................................................................................................... 17
5-Some wires:-............................................................................................................................................... 17
6- Motors:- .................................................................................................................................................... 18
7- Robot Wheels:-.......................................................................................................................................... 19
8-Mobile control program by Bluetooth:-....................................................................................................... 20
Program Code............................................................................................................................................ 20
9- L298N Dual H Bridge for Arduino:- ............................................................................................................. 21
10- Program Proteus:-.................................................................................................................................... 21
4. TASK FLOW CHART..................................................................................................................................... 23

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LIST OF FIGURES.
Figure 1.Main components. ................................................................................................................... 6
Figure 2 views of the base...................................................................................................................... 7
Figure 3.Shaft drawings.......................................................................................................................... 8
Figure 4 sprocket drawings. ................................................................................................................... 9
Figure 5.chain&sprocket. ..................................................................................................................... 10
Figure 6. Fork....................................................................................................................................... 11
Figure 7. Replaced board ..................................................................................................................... 12
Figure 8. Arduino board ....................................................................................................................... 12
Figure 9. Bluetooth module ................................................................................................................. 16
Figure 10. Adaptor. .............................................................................................................................. 16
Figure 11. Test board. .......................................................................................................................... 17
Figure 12. BCB board............................................................................................................................ 17
Figure 13. Wires................................................................................................................................... 17
Figure 14. Motor principal.................................................................................................................... 18
Figure 15. The motor used in the robot................................................................................................ 18
Figure 16. The installation of the wheels.............................................................................................. 19
Figure 17. The two front wheels........................................................................................................... 19
Figure 18. Starting photo. .................................................................................................................... 20
Figure 19. Working application window. .............................................................................................. 20
Figure 20. Speeds code. ....................................................................................................................... 20
Figure 21. The applied design............................................................................................................... 21
Figure 22. Old design. .......................................................................................................................... 21
Figure 23. Proteus................................................................................................................................ 21

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1. Robot general description:
The robot name is Automated Guided Forklift. Forklift is a small industrial vehicle, having a
power operated forked platform attached at the front that can be raised and lowered for insertion under
a cargo to lift or move it. Forklifts serve the needs of various industries including warehouses and other
large storage facilities.
Forklifts are powered by electric battery or combustion engines. Some Forklifts allow the operators to
sit while driving and operating the machine while others require the operator to stand. It is being
extensively used throughout the industry for transporting materials and goods.
 IT’S PURPOSE:
The robot that we are working on is designed to make a specific task controlled by a program
(Bluetooth module).
The task is to move a cubic shape from one point to another by moving and lifting mechanisms and
this is a simulation of the forklift’s real tasks.
 Main components:
We have been working on the mechanical design of the forklift using solidworks software and the main
components of the main mechanism are shown on the next page (as a drawing sheet).
The robot consists of two main branches:
1. Mechanical design.
2. Electrical system.

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Figure 1.Main components.

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2- Mechanical design:
FORKLIFT is a small industrial vehicle, having a power operated forked platform attached at the front
that can be raised and lowered for insertion under a cargo to lift or move it. Forklifts serve the needs of
various industries including warehouses and other large storage facilities.
 Principle of working:
First, rotary motion came from the motor (servo)-that is well attached to the lower shaft. four bearing
are used to support the shafts to main body frame of the mechanism and give it the facility of the
rotation; then, two sprockets are mounted to the shafts to transmit motion to the other shaft by
means of chains; the forks are attached to chain and let it to move up and down, the control of the
motion came from the servo and the Arduino board.
 Main Components
1-Base: It is used to support the main mechanism of the forklift with four holes to support the two
shafts that holds the mechanism.
Material: balsa wood.
No. of parts: one.
Figure 2 views of the base.

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2-Shaft: It is used to hold the two sprockets for the motion.
Material: Plain Alloy Steel.
No of parts: two.
Figure 3.Shaft drawings.

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Figure 4 sprocket drawings.
3-Sprocket: It is used to transmit motion between the two shafts by the means of chains
Material: Plain Carbon Steel.
No of parts: two.

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Figure 5.chain&sprocket.
4-Sprocket & Chain:

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5-Fork: They are used to support the load to be lifted.
Material: AISI 1020 Steel.
No of parts: one.
6-Motor: It is used to give the rotary motion to the first shaft to move the forks later.
Figure 6. Fork

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Figure 8. Arduino board
Figure 7. Replaced board
3. Electrical system (control circuits):
 Components used in the control.
1-Arduino change Microcontrollers ic pic
16F877A.
2-bluetooth module hc-05.
3-adapter DC motor.
4-test board and BCB board.
5- Wires.
6- Motors.
7- Robot Wheels.
8-Mobile control program by Bluetooth
9- L298N Dual H Bridge for Arduino.
10- Program Proteus.
1- Arduino change Microcontrollers Ic pic 16F877A:
Which is the mind of the robot through which to give orders to all parts of the robot whether moving
or lifting or drop or linking Bluetooth Mobile through the program or control the speeds of Motors,
whether the lift Motors or wheel motors, Due to the cost of the, Arduino chip replaced it with its chip
but with a lower cost We used a chip IC pic 16F877A programmable microcontrollers.
Changed to

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a-Code Microcontrollers:

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b-Circuit diagram:

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2- Bluetooth module hc-05 :-
It is the part that converts commands by mobile to commands understood by microcontrollers to
movements It is a very important part to connect mobile control panels It is connected to its
microcontroller.
3-adapter DC motor:-
There are 2 cards The first card is a microcontroller card and you need a constant volt of 12 volts and
the second card, which is connected to the motors, requires a constant volt of 9 volts. Therefore, we
used the adaptor board which we choose from 12 volts and 9 volts.
Figure 9. Bluetooth module
Figure 10. Adaptor.

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Figure 11. Test board.
Figure 13. Wires
4-test board and BCB board:-
Used to install items on them.
5-Some wires:-
We have used wires to connect the elements to each other.
Figure 12. BCB board

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Figure 15. The motor used in the robot.
6- Motors:-
Determine what type of motors are and their determination by following Of the previous law studied
in the course of electrical engineering.
The motor used in lifting is an car mator to give us the required torque.
Figure 14. Motor principal.

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7- Robot Wheels:-
We used three wheels, two of them with motors and one free wheeling.
Figure 17. The two front wheels.
Figure 16. The installation of the wheels.

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Figure 19. Working application window.
Figure 18. Starting photo.
Figure 20. Speeds code.
8-Mobile control program by Bluetooth:-
It is a program that was created by advanced scripting languages so as to control the fork left.
Program Code
txx = uart1_read();
if (txx < 40){portb=txx;}else{portb=0;}
if (txx > 40){PWM1_Set_Duty(txx);}
if (txx == 0){Porta.b0=1;}else{porta=0;}

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Figure 22. Old design.
Figure 23. Proteus.
9- L298N Dual H Bridge for Arduino:-
The card used for motor couplings is a non-volt motor, non-volt card microcontrollers
10- Program Proteus:-
It is a program used to test the circuit before it is executed.
Changed to
6 relay
Figure 21. The applied design.

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Finally, collect all the parts that were explained earlier in one drawing

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4. TASK FLOW CHART.

Automated Guided Forklift

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