A book temporary storage and taking and placing method

Abstract

The application provides a book temporary storage and taking and placing method, which is realized by a book temporary storage and taking and placing device. The book temporary storage and taking and placing device comprises a temporary storage device, a lifting device, a horizontal moving device, a first swinging device, a second swinging device and a clamping device. The lifting device drives the clamping device to move along the Z-axis direction. The horizontal moving device drives the clamping device to move along the Y-axis direction. The horizontal moving device, the first swinging device and the second swinging device jointly drive the clamping device to move along the X-axis direction. The clamping device comprises a clamping hand which can rotate circumferentially. The clamping hand can cooperate with books in different placing states. An adjusting device for adjusting the distance between the clamping hands is arranged on the clamping hand. The clamping hand can cooperate with books of different thicknesses. A pushing device is arranged on the clamping hand. The pushing device is used for pushing the books into the accommodation cavity of the clamping hand. The temporary storage device is used for temporarily storing the books. The books clamped by the clamping device are transported into the temporary storage device for storage.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of book access equipment, in particular to a book temporary storage and taking and placing method. BACKGROUND

[0002] In the management of a library, the classification, carrying and shelving of books require a large amount of manpower and time, increasing the labor intensity of librarians, and sometimes there are phenomena such as book classification errors and shelving errors. In the information wave, the lack of automated devices based on mechanization in traditional libraries is a common situation we face. The automation and intelligentization of library work can fundamentally reduce the labor intensity of librarians and improve work efficiency. The use of robots to realize the classification and automatic storage and retrieval of books and documents can not only reduce the disturbance and damage to important documents caused by frequent entry and exit of librarians into the collection room, but also be beneficial to document protection. Therefore, a book shelving and unshelving special grabbing mechanism needs to be designed to replace manual labor to some extent and reduce labor intensity.

[0003] A book shelving and unshelving special grabbing mechanism is disclosed in a patent document with Chinese application number 201921807781.X and publication date 2020.6.30, which includes a trolley, a horizontal transverse moving mechanism connected to the trolley, a vertical direction moving mechanism connected to the horizontal transverse moving mechanism, a horizontal longitudinal moving mechanism connected to the vertical direction moving mechanism, and a book grabbing mechanism connected to the horizontal longitudinal moving mechanism. However, since books are not necessarily placed vertically on the support surface, the vertically arranged gripper cannot grip the books placed at an angle. The wrist of the grabbing mechanism can only rotate horizontally along the Y-axis slide, and it cannot rotate circumferentially along the Y-axis screw, so the gripper is always vertically arranged. When the books are placed at an angle, the side of the book is inclined relative to the gripper, so the gripper cannot contact the two sides of the book, making it impossible to grip the book. At the same time, when the gripper is extended, it will hit the book and push it back to its original position. The grabbing device only swings in the horizontal plane by rotating the cylinder, and the swinging range of the grabbing device is small. At the same time, the device cannot temporarily store books, and the taking and placing method is complex. SUMMARY

[0004] The present application provides a book temporary storage and taking and placing method, which transports books to the temporary storage device for storage after taking the books out of the bookshelf, and swings the stored books in the temporary storage device to the bookshelf; thereby facilitating the continuous storage or placement of books.

[0005] In order to achieve the above-mentioned purpose, the technical scheme of the present application is: a book temporary storage and taking and placing method is realized through a book temporary storage and taking and placing device, the book temporary storage and taking and placing device comprises a base plate, a walking device, a lifting device and a temporary storage device are arranged on the base plate, the walking device is used for driving the base plate to move; the lifting device is connected with a transverse moving device, the transverse moving device is connected with a first swing device, the first swing device is connected with a second swing device, the second swing device is connected with a clamping and taking device; the first swing device drives the second swing device and the clamping and taking device to swing synchronously along the length direction of the transverse moving device; the second swing device drives the clamping and taking device to swing along the length direction of the transverse moving device relative to the first swing device.

[0006] The clamping and taking device comprises a rotary motor and a clamping hand, the rotary motor is fixed on the swing second fixed seat, the output end of the rotary motor is connected with the clamping hand, the rotary motor drives the clamping hand to rotate circumferentially around the axis of the first direction, and the first direction is arranged in parallel with the length direction of the swing arm.

[0007] The clamping hand comprises a first clamping piece and a second clamping piece, the first clamping piece is connected with the output end of the rotary motor, and the second clamping piece is arranged opposite to the first clamping piece; an adjusting device is connected between the top of the first clamping piece and the top of the second clamping piece, and the adjusting device is used for adjusting the distance between the first clamping piece and the second clamping piece; a containing cavity is formed between the first clamping piece, the second clamping piece and the adjusting device, and the two sides and the bottom of the containing cavity have openings; the first clamping piece and the second clamping piece are both provided with first conveying devices, and the two first conveying devices are arranged opposite to each other in the containing cavity.

[0008] A pushing device is further arranged between the first clamping piece and the second clamping piece, the pushing device is located above the adjusting device, the pushing device comprises a pushing motor, a pushing support and a pushing piece, the pushing motor is installed on one side of the first clamping piece, the output end of the pushing motor is connected with the pushing support, the pushing support extends towards the second clamping piece, one end of the pushing piece is connected with the pushing support and is arranged perpendicularly to the pushing support, and the pushing motor is used for driving the pushing piece to swing towards the containing cavity.

[0009] The temporary storage device is arranged on the base plate, the temporary storage device comprises a temporary storage bin body and a temporary storage conveying device; the temporary storage conveying device is arranged on the base plate, and the temporary storage bin body is located above one end of the temporary storage conveying device; the temporary storage conveying device comprises a temporary storage conveying belt, conveying baffles are arranged on the two sides of the temporary storage conveying belt, and a conveying channel is formed between the two conveying baffles.

[0010] The temporary storage bin body comprises a bin body shell, a temporary storage first opening is arranged at the bottom of the bin body shell, and an inlet and outlet are arranged on the side surface of the bin body shell; the conveying channel, the temporary storage first opening and the inlet and outlet are communicated; one end of the temporary storage conveying belt extends into the bin body shell through the temporary storage first opening and the inlet and outlet, and the two conveying baffles abut against the side surface of the bin body shell.

[0011] The temporary storage rotating member is located above the temporary storage conveying belt, and the temporary storage rotating member comprises two or more temporary storage cavities, each of which is provided with a temporary storage second opening; the temporary storage rotating member is connected with a temporary storage rotating motor, and the temporary storage rotating motor drives the temporary storage rotating member to rotate to make the temporary storage second opening, the temporary storage first opening, the inlet and outlet and the temporary storage conveying belt of any temporary storage cavity communicate with each other; the lifting device, the transverse moving device, the first swinging device and the second swinging device are used to drive the accommodation cavity of the clamping device to correspond to the conveying channel of the temporary storage conveying device.

[0012] The book temporary storage and taking and placing method comprises the following steps:

[0013] S1, books in the bookshelf are taken out and placed in the temporary storage device for storage, and S2 is performed; books in the temporary storage device are taken out and swung into the bookshelf for S14.

[0014] S2, the lifting device drives the clamping device to move along the Z-axis direction, so that the clamping device is at the same height as the book to be taken out.

[0015] S3, the transverse moving device, the first swinging device and the second swinging device jointly drive the clamping device to move along the Y-axis and the X-axis, so that the clamping device corresponds to the horizontal position of the book to be taken out, and the pushing member moves above the side of the book to be taken out.

[0016] S4, the adjusting device drives the second clamping member to move away from the first clamping member.

[0017] S5, the pushing motor drives the pushing member to swing towards the accommodation cavity, the pushing member pushes the book downwards, and the book tilts towards the accommodation cavity; the adjusting device drives the second clamping member to move towards the first clamping member, the two first conveying devices contact the side surface of the book, and the friction between the two first conveying devices and the book clamps the book; the pushing motor drives the pushing member to swing away from the accommodation cavity and reset.

[0018] S6, the rollers of the two first conveying devices rotate in the forward direction to convey the book, and at the same time, the pushing member swings towards the accommodation cavity to press the other side of the book downwards, the top of the book swings away from the accommodation cavity during the movement of the book, and the inclination of the book is reduced; when the book completely enters the accommodation cavity, S7 is performed.

[0019] S7, the two first conveying devices stop moving.

[0020] S8, the transverse moving device, the first swinging device and the second swinging device drive the clamping device to move along the Y-axis direction and the X-axis direction, so that the clamping device corresponds to the position of the conveying channel and is close to the conveying channel in the horizontal direction.

[0021] S9, the lifting device drives the clamping device to move along the Z axis to approach the conveying channel. When the bottom of the book is clamped by the clamping device and the bottom of the book is in contact with the temporary conveying belt, S10 is performed.

[0022] S10, the temporary rotating motor drives the temporary rotating member to rotate, so that a temporary cavity without storing books corresponds to the inlet and outlet.

[0023] S11, the temporary conveying belt is started, and the rollers of the two first conveying devices are positively rotated. The conveying speed of the temporary conveying belt is greater than the conveying speed of the first conveying device. The top of the book swings in the opposite direction of the advancing direction of the book, and then the adjusting device drives the second clamping member away from the first clamping member, and the clamping hand releases the clamping of the book. While the book swings in the opposite direction of the advancing direction of the book, the other side of the bottom of the book is in contact with the temporary conveying belt, and the book is corrected from the inclined state to the vertical state.

[0024] S12, the temporary conveying belt conveys the book to the direction close to the inlet and outlet, and the book enters the temporary cavity through the inlet and outlet.

[0025] S13, the temporary rotating motor drives the temporary rotating member to rotate, and the temporary cavity drives the book away from the inlet and outlet. The temporary cavity and the inner wall of the shell of the storage body form a closed cavity to store the book. Then S1 is performed.

[0026] S14, the horizontal moving device, the first swinging device and the second swinging device drive the clamping device to move along the Y axis and the X axis, so that the clamping device corresponds to the horizontal position of the conveying channel.

[0027] S15, the lifting device drives the clamping device to approach the conveying channel, so that the accommodation cavity of the clamping device corresponds to the conveying channel of the temporary conveying belt.

[0028] S16, the adjusting device drives the second clamping member away from the first clamping member, and the accommodation cavity is opened.

[0029] S17, the temporary rotating motor drives the temporary rotating member to rotate, so that a temporary cavity storing books corresponds to the inlet and outlet. The book falls onto the temporary conveying belt through the temporary second outlet and the temporary first outlet.

[0030] S18, the temporary conveying belt conveys the book away from the inlet and outlet, and the book enters the accommodation cavity.

[0031] S19, the adjusting device drives the second clamping member to approach the first clamping member, and the two first conveying devices are in contact with the side surface of the book. The friction between the two first conveying devices and the book clamps the book.

[0032] S20, the lifting device drives the clamping device to move along the Z-axis direction, so that the clamping device is at the same height as the book to be placed; the transverse moving device, the first swing device and the second swing device jointly drive the clamping device to move along the Y-axis and the X-axis, so that the clamping device is horizontally corresponding to and close to the book to be placed.

[0033] S21, the first clamping piece and the second clamping piece extend into the books between the two sides of the book to be placed in the bookshelf, and the first clamping piece and the second clamping piece enlarge the gap between the two books in the bookshelf.

[0034] S22, the rollers of the two first conveying devices are reversely rotated to convey the books, and the books are conveyed into the book to be placed; then S1 is performed.

[0035] The above method, the lifting device drives the clamping device to correspond to different vertical heights, the transverse moving device, the first swing device and the second swing device drive the clamping device to correspond to books at different horizontal positions and different longitudinal positions; then the clamping device can take out the books at different positions in the bookshelf, and the books taken out from the bookshelf are stored in the temporary storage device, and when the books leave the clamping device and enter the temporary conveying belt, the clamping device can take out another book in the bookshelf again; the books in the bookshelf are continuously taken out and stored. When the books are taken out from the temporary storage device and swung into the bookshelf, when the books leave the temporary conveying belt and enter the clamping device, the temporary rotating member rotates again to move another book in the temporary storage to the temporary conveying belt; when the clamping device places the clamped books in the bookshelf, the clamping device can move again to receive the books output by the temporary conveying belt, and the books taken out from the temporary storage device are continuously swung into the bookshelf; the steps of taking out the books from the bookshelf and the steps of placing the books into the bookshelf can be alternately performed.

[0036] Because the books will be inclined into the accommodation cavity when the books are pushed out by the pushing member, the inclined books are corrected for the first time by the pushing member and the two first conveying devices; the inclined books are corrected for the second time by the temporary conveying belt and the two first conveying devices; the books are modified from the inclined state to the vertical state, which is convenient for storage.

[0037] Further, the adjusting device comprises an adjusting fixed seat, an adjusting sliding seat and an adjusting motor, the adjusting fixed seat comprises an adjusting first connecting part, an adjusting second connecting part and an adjusting connecting piece, the adjusting connecting piece connects the adjusting first connecting part and the adjusting second connecting part, the adjusting motor is installed on the adjusting first connecting part, and the adjusting second connecting part is fixedly connected with the first clamping piece; the adjusting sliding seat is arranged between the adjusting first connecting part and the adjusting second connecting part and located at one side of the adjusting connecting piece, and the adjusting sliding seat is connected with the second clamping piece.

[0038] The adjusting sliding seat is provided with an adjusting threaded hole; the output end of the adjusting motor is connected with an adjusting screw rod, the adjusting screw rod is rotatably connected with the adjusting second connecting part through the adjusting threaded hole of the adjusting sliding seat; the adjusting sliding seat is provided with an adjusting sliding groove on one side, and the end of the adjusting sliding seat close to the adjusting sliding groove extends an adjusting sliding block, and the adjusting sliding block is slidably arranged in the adjusting sliding groove.

[0039] The above arrangement cooperates the adjusting sliding groove and the adjusting sliding block to limit the rotation of the adjusting sliding seat along the circumference of the adjusting screw rod, so that when the adjusting screw rod rotates, it drives the adjusting sliding seat to move along the axial direction of the adjusting screw rod, and the moving adjusting sliding seat drives the second clamping part to approach or move away from the first clamping part, thereby adjusting the distance between the first clamping part and the second clamping part.

[0040] Further, the first conveying device is arranged in the accommodating groove, and the first clamping part and the second clamping part are arranged above and below the accommodating groove of the first clamping part and the second clamping part, respectively, and the first clamping part and the second clamping part are arranged away from the adjusting motor, and the first clamping part and the second clamping part are arranged opposite to each other and are bent towards the accommodating cavity.

[0041] The above arrangement, when placing books, needs to place the to-be-placed paper between the two books in the gap in the bookshelf, and the first clamping part and the second clamping part are arranged towards the accommodating cavity, the distance between the first clamping part and the second clamping part is smaller than the distance between the first clamping part and the second clamping part, and the first clamping part and the second clamping part are easily inserted into the gap between the two books in the bookshelf, and then the first clamping part and the second clamping part are expanded to enlarge the gap between the two books in the bookshelf; thus, the to-be-placed paper in the hand is conveniently output to the gap between the two books in the bookshelf.

[0042] Further, the first swinging device includes a swinging first fixed seat and a swinging arm; the swinging first fixed seat is connected with the movable end of the horizontal moving device, one end of the swinging arm is hinged with the swinging first fixed seat; the swinging first fixed seat is provided with a first swinging motor, and the output end of the first swinging motor is connected with a swinging driving gear; the hinged part of the swinging arm and the swinging first fixed seat is provided with a swinging driven gear, the swinging driving gear is engaged with the swinging driven gear, and the first swinging motor drives the swinging arm to swing relative to the horizontal moving device. In this way, the first swinging device drives the clamping device to swing along the hinged part of the first fixed seat and the swinging arm as the shaft.

[0043] Further, the second swing device comprises a swing second fixing base and a second swing motor, the swing second fixing base is located above the swing arm; the second swing motor is installed on the swing second fixing base, the output end of the second swing motor is connected with the end of the swing arm away from the horizontal moving device, a first thrust bearing is arranged on the output end of the second swing motor, the first thrust bearing is arranged between the swing second fixing base and the swing arm and abuts against the swing second fixing base and the swing arm; the second swing motor drives itself to swing relative to the swing arm, and the swung second swing motor drives the clamping device on the swing second fixing base to move. In this way, the second swing device drives the clamping device to swing along the connection between the second swing device and the swing arm as the axis, and the movement range of the clamping device around the Z-axis direction is large.

[0044] Further, the warehouse body shell comprises a warehouse body shell body and a warehouse body cover plate, the warehouse body cover plate is arranged on one side of the warehouse body shell body, and the temporary storage first opening is arranged at the bottom of the warehouse body shell body; and the inlet and outlet are arranged on the side surface of the warehouse body cover plate.

[0045] Further, the warehouse body shell is connected with a supporting column, the supporting column is connected with the bottom disc, and a driving connection hole is arranged at the bottom of the warehouse body shell; the temporary storage rotating motor is installed at one end of the supporting column close to the bottom disc, and the temporary storage rotating motor is connected with a temporary storage driving gear; one side of the temporary storage rotating part is provided with a temporary storage driven gear, and the temporary storage driving gear passes through the driving connection hole and is engaged with the temporary storage driven gear. In this way, the structure is simple. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 It is a schematic view of the book temporary storage and taking and placing device.

[0047] Figure 2 It is a schematic view of the book temporary storage and taking and placing device.

[0048] Figure 3 It is a schematic view of the book temporary storage and taking and placing device.

[0049] Figure 4 It is a side view of the first swing device, the second swing device and the clamping device.

[0050] Figure 5 It is Figure 4 It is an enlarged view of a in FIG. 10.

[0051] Figure 6 It is an exploded view of the first swing device and the second swing device.

[0052] Figure 7 It is a top view of the horizontal moving device, the first swing device, the second swing device and the clamping device.

[0053] Figure 8 It is a schematic view of the horizontal moving device, the first swing device, the second swing device after action.

[0054] Figure 9 Fig. 6 is a perspective view of the second swing device and the gripping device.

[0055] Figure 10 Fig. 7 is a perspective view of the gripping device after rotation.

[0056] Figure 11 Fig. 8 is a perspective view of the push device in the gripping device.

[0057] Figure 12 Fig. 9 is a perspective view of the adjusting device in the gripping device.

[0058] Figure 13 Fig. 10 is a top view of the gripping hand and the adjusting device.

[0059] Figure 14 Fig. 11 is a view of the push member swinging towards the accommodating cavity in the gripping device.

[0060] Figure 15 Fig. 12 is a view of the book tilting towards the accommodating cavity.

[0061] Figure 16 Fig. 13 is a view of the push member correcting the book in the gripping device.

[0062] Figure 17 Fig. 14 is a view of the book being corrected from the tilting state to the vertical state.

[0063] Figure 18 Fig. 15 is a side view of the gripping device and the temporary storage device.

[0064] Figure 19 Fig. 16 is a front view of the gripping device and the temporary storage device.

[0065] Figure 20 Fig. 17 is a perspective view of the temporary storage device without the cover plate.

[0066] Figure 21 Fig. 18 is an exploded view of the temporary storage device.

[0067] Figure 22 Fig. 19 is a view of the gripping device placing the book in the temporary storage device.

[0068] Figure 23 Fig. 20 is a view of the book being converted from the tilting state to the vertical state. DETAILED DESCRIPTION

[0069] The present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0070] As Figures 1-23As shown; a method for temporarily storing and retrieving books, implemented through a book storage and retrieval device. The book storage and retrieval device includes a chassis 1, a lifting device 2, a lateral moving device 3, a first swinging device 4, a second swinging device 5, a clamping device 6, a traveling device 7, and a temporary storage device 88; the lifting device 2 is mounted on the chassis 1, the lateral moving device 3 is connected to the lifting device 2, one end of the first swinging device 4 is connected to the lateral moving device 3, the other end of the second swinging device 5 is connected to the second swinging device 5, and the clamping device 6 is mounted on the second swinging device 5; the lifting device 2 is used to drive the vertical movement of the clamping device 6 independently; the lateral moving device 3 is used to drive the longitudinal movement of the clamping device 6 independently; the lateral moving device 3 is also used in conjunction with the first swinging device 4 and the second swinging device 5 to drive the clamping device 6 to move laterally; see reference. Figure 1 As shown, the lifting device 2 drives the gripping device 6 to move along the Z-axis, the lateral movement device 3 drives the gripping device 6 to move along the Y-axis, and the lateral movement device 3, the first swing device 4, and the second swing device 5 together drive the lateral movement device 3 to move along the X-axis; thus, the gripping device 6 can move along the Z-axis, Y-axis, and X-axis; the gripping device 6 can cooperate with books of different heights, different lateral positions, or different longitudinal positions.

[0071] like Figures 5-9 As shown; the first swing device 4 drives the second swing device 5 and the clamping device 6 to swing left and right synchronously along the length direction of the transverse device 3; the second swing device 5 drives the clamping device 6 to swing left and right relative to the first swing device 4 along the length direction of the transverse device 3.

[0072] The first swinging device 4 includes a swinging first fixed base 41 and a swinging arm 42. The swinging first fixed base 41 is connected to the movable end of the transverse movement device 3, and one end of the swinging arm 42 is hinged to the swinging first fixed base 41. A first swinging motor 43 is provided on the swinging first fixed base 41, and the output end of the first swinging motor 43 is connected to a swinging driving gear 44. A swinging driven gear 45 is provided at the hinge point between the swinging arm 42 and the swinging first fixed base 41. The swinging driving gear 44 meshes with the swinging driven gear 45, and the first swinging motor 43 drives the swinging arm 42 to swing relative to the transverse movement device 3. In this embodiment, both the swinging driving gear 44 and the swinging driven gear 45 are bevel gears.

[0073] The swing first fixing base 41 is provided with a hinged plate 411, the swing arm 42 is provided with a first swing part 421 and a second swing part 422 at one end close to the swing first fixing base 41, and the hinged plate 411 is arranged between the first swing part 421 and the second swing part 422; a second thrust bearing 46 is arranged between the first swing part 421 and the hinged plate 411, and the first swing part 421 and the hinged plate 411 are in abutment with the second thrust bearing 46; a third thrust bearing 47 is arranged between the second swing part 422 and the hinged plate 411, and the second swing part 422 and the hinged plate 411 are in abutment with the third thrust bearing 47.

[0074] The swing driven gear 45 is fixed on the first swing part 421 and connected with one side of the second thrust bearing 46, the upper surface of the hinged plate 411 extends a first connecting shaft 412, the first connecting shaft 412 is rotatably connected with the swing driven gear 45 through the second thrust bearing 46; the second thrust bearing 46 bears the load of the first swing part 421 in the axial direction of the first connecting shaft 412; the lower surface of the hinged plate 411 extends a second connecting shaft 413, the second connecting shaft 413 passes through the second thrust bearing 46 and is arranged in the second swing part 422. The third thrust bearing 47 bears the load of the hinged plate in the axial direction of the second connecting shaft 413. The swing main gear 44 is driven to rotate by the first swing motor 43, the swing main gear 44 drives the swing driven gear 45 to rotate, the swing driven gear 45 drives the swing arm 42 and one side of the second thrust bearing 46 to rotate, thereby realizing the swing of the swing arm 42 relative to the swing first fixing base 41.

[0075] The second swing device 5 comprises a swing second fixing base 51 and a second swing motor 52, the swing second fixing base 51 is located above the swing arm 42; the second swing motor 52 is installed on the swing second fixing base 51; one end of the swing arm 42 away from the horizontal moving device 3 is provided with a swing arm connecting hole 423; the output end of the second swing motor 52 is connected with the swing arm connecting hole 423 through a first thrust bearing 53, and the first thrust bearing 53 is in abutment with the swing second fixing base 51 and the swing arm 42; the second swing motor 52 drives itself to swing relative to the swing arm 42, and the swinging second swing motor 52 drives the clamping device 6 on the swing second fixing base 51 to move.

[0076] Because the swing main gear 44 and the swing driven gear 45 are in meshing engagement, the swing main gear 44 locks the swing driven gear 45, when the output end of the second swing motor 52 acts, the second swing motor 52 cannot drive the swing arm 42 to rotate, and at the same time, the first thrust bearing is arranged to realize the rotatable connection between the swing second fixing base 51 and the swing arm 42, and then the second swing motor 52 drives itself to rotate around the swing arm connecting hole 423, and the rotating second swing motor 52 drives the swing second fixing base 51 to rotate synchronously

[0077] The first swing device 4 drives the clamping device 6 to swing along the axis of the hinge between the first fixed base and the swing arm 42; the second swing device 5 drives the clamping device 6 to swing along the axis of the hinge between the second swing device 5 and the swing arm 42, and the clamping device 6 has a large range of movement around the Z-axis. When the lateral device is not in action, the first swing device 4 and the second swing device 5 can respectively drive the clamping device 6 to swing in the horizontal plane formed by the longitudinal movement and the lateral movement, and the clamping device 6 has good flexibility.

[0078] Referring to Figure 1 , 5 When it is necessary to drive the clamping device 6 to move along the X-axis, the first swing device 4 is first driven by the lateral device 3 to move horizontally along the Y-axis, and at the same time, the first swing motor 43 drives the swing arm 42 to swing in the opposite direction of the horizontal movement of the end of the swing arm 42 close to the clamping device 6, and at the same time, the second swing motor 52 drives the swing second fixed base 51 to swing in the opposite direction of the swing of the swing arm 42, so as to realize the horizontal movement of the clamping device 6 along the X-axis.

[0079] The clamping device 6 comprises a rotating motor 61 and a clamping hand 62, the rotating motor 61 is fixed on the swing second fixed base 51, the output end of the rotating motor 61 is connected with the clamping hand 62, the rotating motor 61 drives the clamping hand 62 to rotate circumferentially around the axis of the first direction, and the first direction is parallel to the length direction of the swing arm 42. Referring to Figure 10 , the first direction is the axial direction of the output end of the rotating motor 61. The clamping hand 62 is driven to rotate by the rotating motor 61, and the clamping hand 62 rotates circumferentially relative to the swing arm 42, so that the clamping hand 62 can vertically, horizontally or obliquely clamp books, thereby clamping books in different placement states. The application range is wide.

[0080] The clamping hand 62 comprises a first clamping part 621 and a second clamping part 622, the first clamping part 621 is connected with the output end of the rotating motor 61, and the second clamping part 622 is arranged opposite to the first clamping part 621; an adjusting device 63 is connected between the top of the first clamping part 621 and the top of the second clamping part 622, and the adjusting device 63 is used for adjusting the distance between the first clamping part 621 and the second clamping part 622. By adjusting the distance between the first clamping part 621 and the second clamping part 622 through the adjusting device 63, the clamping hand 62 can clamp books of different thicknesses.

[0081] The accommodation cavity 623 is formed between the first clamping piece 621, the second clamping piece 622 and the adjusting device 63, and has openings on two sides and a bottom; the accommodation grooves 624 are arranged in the first clamping piece 621 and the second clamping piece 622, and the first conveying devices 64 are arranged in the accommodation grooves 624 respectively, and the two first conveying devices 64 are oppositely arranged in the accommodation cavity 623.

[0082] The poking device 65 is further arranged between the first clamping piece 621 and the second clamping piece 622, and is located above the adjusting device 63; the poking device 65 comprises a poking motor 651, a poking support 652 and a poking piece 653; the poking motor 651 is mounted on one side of the first clamping piece 621, the output end of the poking motor 651 is connected with the poking support 652, the poking support 652 extends towards the second clamping piece 622, one end of the poking piece 653 is connected with the poking support 652 and is arranged perpendicularly to the poking support 652, and the poking motor 651 drives the poking piece 653 to swing towards the accommodation cavity 623. The poking device 65 and the adjusting device 63 are arranged on the top of the clamping hand 62, and have openings on two sides and a bottom of the accommodation cavity 623; when the books of a large area are clamped, the two sides of the books of a large area can extend out of the clamping hand 62 through the openings, the bottom of the books of a large area can extend out of the clamping hand 62 through the openings, and the clamping hand 62 can clamp books of different areas, so that the utility is good.

[0083] The poking device 65 and the two first conveying devices 64 are used to drive the books into the accommodation cavity 623, as shown in Figures 14-17 The books 90 are placed on the bookshelf 91; when the books 90 in the bookshelf 91 are taken out, the poking motor 651 drives the poking piece 653 to swing downwards, the poking piece 653 contacts one side of the top of the books 90 and drives the books 90 to move towards the accommodation cavity 623, and since the bookshelf 91 supports the books 90, the top of the books 90 further tilts towards the accommodation cavity 623; then the poking piece 653 is reset, the two first conveying devices 64 drive the books 90 to enter the accommodation cavity 623 along the F1 direction, in the process of moving of the books 91, the bookshelf 91 supports the books 90, the poking piece 653 swings downwards along the F2 direction to contact the other side of the top of the books 90, so that the books 90 are corrected from the tilted state to the vertical state in the process of moving; then the adjusting device drives the second clamping piece to move towards the first clamping piece, and the books in the accommodation cavity 623 are clamped. When the books clamped by the clamping device 6 are placed, the clamping device 6 is driven to move along the X axis direction by the transverse moving device 3, the first swinging device 4 and the second swinging device 5, the two first conveying devices 64 drive the books 90 to move away from the accommodation cavity 623 along the opposite direction of the F1 direction, so that the books 90 are moved from the clamping device 6 to the bookshelf 91.

[0084] In the embodiment, the first clamping piece 625 is arranged above and below the accommodating groove 624 of the first clamping member 621, and the second clamping piece 626 is arranged above and below the accommodating groove 624 of the second clamping member 622. The first clamping piece 625 and the second clamping piece 626 are arranged away from the poking motor 651 and are oppositely arranged and bent towards the accommodating cavity 623. When placing books, the books to be placed are placed in the gap between two books in the bookshelf. The first clamping piece 625 and the second clamping piece 626 are arranged to be bent towards the accommodating cavity 623, the distance between the first clamping piece 625 and the second clamping piece 626 is smaller than the distance between the first clamping member 621 and the second clamping member 622, and the first clamping piece 625 and the second clamping piece 626 can easily extend into the gap between two books in the bookshelf, and then the first clamping member 621 and the second clamping member 622 can expand the gap between two books in the bookshelf. In this way, the books to be placed in the clamping hand 62 can be easily output to the gap between two books in the bookshelf.

[0085] The poking support 652 comprises a poking first support 6521 and a poking second support 6522. The poking first support 6521 is connected to the output end of the poking motor 651 and extends upwards away from the adjusting device 63. The poking second support 6522 is arranged perpendicularly to the poking first support 6521 and extends from the top end of the poking first support 6521. By extending the end of the poking first support 6521 away from the adjusting device 63, the height of the top end of the poking first support 6521 is increased, and the height of the poking member 653 connected to the poking second support 6522 is also increased, so that the poking member 653 can avoid the adjusting device 63.

[0086] The poking member 653 comprises a first poking connecting member 6531, a second poking connecting member 6532 and a third poking connecting member 6533. The first poking connecting member 6531 is connected to the poking second support 6522. The second poking connecting member 6532 is arranged away from the poking second support 6522 and above the first poking connecting member 6531. The third poking connecting member 6533 is arranged obliquely and connected to the first poking connecting member 6531 and the second poking connecting member 6532. A rubber block 6534 is arranged on the second poking connecting member 6532. The second poking connecting member 6532 is used to poke out books. By arranging the second poking connecting member 6532 with a higher horizontal height than the first poking connecting member 6531, the books can be easily poked out by cooperating with the top of the books. By arranging the rubber block 6534, the friction between the poking member 653 and the books is increased, and the books are prevented from being damaged by the poking member 653.

[0087] The adjusting device 63 comprises an adjusting fixed seat 631, an adjusting sliding seat 632 and an adjusting motor 633. The adjusting fixed seat 631 comprises an adjusting first connecting part 6311, an adjusting second connecting part 6312 and an adjusting connecting piece 6313. The adjusting connecting piece 6313 connects the adjusting first connecting part 6311 and the adjusting second connecting part 6312. The adjusting motor 633 is installed on the adjusting first connecting part 6311. The adjusting second connecting part 6312 is fixedly connected with the first clamping piece 621. In the embodiment, the adjusting second connecting part 6312 is integrally formed with the first clamping piece 621. The adjusting sliding seat 632 is arranged between the adjusting first connecting part 6311 and the adjusting second connecting part 6312 and located at one side of the adjusting connecting piece 6313. The adjusting sliding seat 632 is connected with the second clamping piece 622.

[0088] An adjusting threaded hole (not shown in the figure) is arranged in the adjusting sliding seat 632. An adjusting screw rod 634 is connected with an output end of the adjusting motor 633. The adjusting screw rod 634 is rotatably connected with the adjusting second connecting part 6312 through the adjusting threaded hole of the adjusting sliding seat 632. An adjusting sliding groove 635 is arranged at one side of the adjusting connecting piece 6313. An adjusting sliding block 636 extends from one end of the adjusting sliding seat 632 close to the adjusting sliding groove 635. The adjusting sliding block 636 is slidingly arranged in the adjusting sliding groove 635. The adjusting sliding groove 635 and the adjusting sliding block 636 are matched to limit the circumferential rotation of the adjusting sliding seat 632 along the adjusting screw rod 634. When the adjusting screw rod 634 rotates, the adjusting sliding seat 632 is driven to move along the axial direction of the adjusting screw rod 634. The moving adjusting sliding seat 632 drives the second clamping piece 622 to move close to or away from the first clamping piece 621, so as to adjust the distance between the first clamping piece 621 and the second clamping piece 622.

[0089] The first conveying device 64 comprises a roller motor 641, a driven roller 642 and a first conveying belt 643. The roller motor 641 is rotatably arranged at one end of the accommodating groove 624. The driven roller 642 is rotatably arranged at the other end of the accommodating groove 624. The first conveying belt 643 is sleeved on the roller motor 641 and the driven roller 642. The roller motor 641 drives the first conveying belt 643 to rotate. The two first conveying belts 643 are in contact with the side surface of the book, so as to convey the book.

[0090] The lifting device 2 comprises a lifting support 21, a lifting motor 22, lifting guide shafts 23 and a lifting sliding seat 24. One end of the lifting support 21 is connected to the chassis 1, and the lifting motor 22 is arranged at the other end of the lifting support 21. The lifting motor 22 is connected with a lifting screw rod 25. The two lifting guide shafts 23 are symmetrically arranged about the lifting screw rod 25. The lifting sliding seat 24 is arranged through the lifting screw rod 25 and the two lifting guide shafts 23. The lifting motor 22 drives the lifting sliding seat 24 to move. The transverse moving device 3 is connected with the lifting sliding seat 24. The lifting guide shafts 23 limit the circumferential rotation of the lifting sliding seat 24 along the lifting screw rod 25. The rotation of the lifting screw rod 25 drives the lifting sliding seat 24 to move along the axial direction of the lifting screw rod 25. The structure is simple. The transverse moving device 3 is synchronously moved by the lifting sliding seat 24.

[0091] The transverse moving device 3 comprises a transverse moving support 31, a transverse moving motor 32 and a transverse moving sliding seat 33. The transverse moving support 31 is fixed on the lifting sliding seat 24. The transverse moving motor 32 is arranged on the transverse moving support 31. The transverse moving motor 32 is connected with a transverse moving screw rod 34. The transverse moving sliding seat 33 is arranged through the transverse moving screw rod 34. The transverse moving support 31 is further provided with a transverse moving guide rail 35. The transverse moving sliding seat 33 is connected with a transverse moving sliding block (not shown in the figure). The transverse moving sliding block is slidingly arranged on the transverse moving guide rail 35. The transverse moving motor 32 drives the transverse moving sliding seat 33 to move. The first swinging device 4 is connected with the transverse moving sliding seat 33. The transverse moving guide rail 35 limits the circumferential rotation of the transverse moving sliding seat 33 along the transverse moving screw rod 34. The rotation of the transverse moving screw rod 34 drives the transverse moving sliding seat 33 to move along the axial direction of the transverse moving screw rod 34. The structure is simple. The first swinging device 4 is synchronously moved by the transverse moving sliding seat 33.

[0092] The walking device 7 is arranged on the chassis 1. The walking device 7 is used to drive the chassis 1 to move. The automatic book taking and placing robot is driven to move by the walking device 7. The walking device 7 is a prior art, which is not described here.

[0093] The temporary storage device 8 is arranged on the chassis 1. The temporary storage device 8 comprises a temporary storage bin body 81 and a temporary storage conveying device 82. The temporary storage conveying device 82 is arranged on the chassis 1. The temporary storage bin body 81 is located above one end of the temporary storage conveying device 82. The temporary storage conveying device 82 comprises a temporary storage conveying belt 821. Conveying baffles 822 are arranged on both sides of the temporary storage conveying belt 821. A conveying channel 823 is formed between the two conveying baffles 822. The temporary storage device 8 is used to store books. The temporary storage conveying belt 821 is used to convey the books output by the clamping device into the temporary storage bin body 81. The conveying baffles 822 are arranged on both sides of the temporary storage conveying belt 821. The conveying baffles 822 are used to resist the side surface of the books, so as to avoid the books from falling to both sides in the conveying process and causing the books to be separated from the temporary storage conveying belt 821. The temporary storage conveying belt 821 is a prior art, which is not described here.

[0094] The temporary storage bin body 81 comprises a bin body shell, which comprises a bin body shell body 811 and a bin body cover plate 812 arranged on one side of the bin body shell body 811. A support column 813 is arranged on the side of the bin body shell body 811 away from the bin body cover plate 812, and the support column 813 is connected with the chassis 1. In this way, the temporary storage bin body 81 is fixed on the chassis 1. A temporary storage first opening 8111 is arranged on the bottom of the bin body shell body 811, and an inlet and outlet 8121 is arranged on the side of the bin body cover plate 812. The conveying channel 823, the temporary storage first opening 8111 and the inlet and outlet 8121 are in communication.

[0095] One end of the temporary storage conveying belt 821 extends into the bin body shell body 811 through the temporary storage first opening 8111 and the inlet and outlet 8121, and the two conveying baffles 822 abut against the side of the bin body cover plate 812. A fixing column 8112 is arranged in the bin body shell body 811, and a temporary storage rotating member 814 is sleeved on the fixing column 8112. The temporary storage rotating member 814 is connected with a temporary storage rotating motor 815, and the temporary storage rotating motor 815 drives the temporary storage rotating member 814 to rotate relative to the fixing column 8112.

[0096] The temporary storage rotating member 814 is located above the temporary storage conveying belt 821, and the temporary storage rotating member 814 comprises two or more temporary storage cavities 8141. The bottom of each temporary storage cavity 8141 is provided with a temporary storage second opening 8142. The temporary storage rotating motor 815 drives the temporary storage rotating member 814 to rotate, so that the temporary storage second opening 8142 of any temporary storage cavity 8141, the temporary storage first opening 8111, the inlet and outlet 8121 and the temporary storage conveying belt 821 are in communication. The lifting device 2, the transverse moving device 3, the first swing device 4 and the second swing device 5 are used to drive the accommodation cavity 623 of the clamping device 6 to correspond to the conveying channel 823 of the temporary storage conveying device 82.

[0097] One side of the temporary storage rotating member 814 is provided with a temporary storage driven gear 8143, and a driving connection hole 8113 is arranged on the bottom of the bin body shell body 811. The temporary storage rotating motor 815 is installed on the end of the support column 813 close to the chassis, and the temporary storage rotating motor 815 is connected with a temporary storage driving gear 8151. The temporary storage driving gear 8151 penetrates through the driving connection hole 8113 and engages with the temporary storage driven gear 8143. In this way, the structure is simple.

[0098] By arranging the temporary storage inlet and outlet 8121, the books on the temporary storage conveying belt 821 can pass through the inlet and outlet 8121 and enter the temporary storage cavities 8141 above the temporary storage conveying belt 821. The temporary storage rotating motor 815 drives the temporary storage rotating member 814 to rotate, and the inner wall of the bin body shell supports the books in the temporary storage cavities 8141, so that the books placed in the temporary storage cavities 8141 are stored in the temporary storage bin body 81.

[0099] When the books are taken out from the temporary storage cavity 8141, the temporary rotation member 814 is rotated to move the temporary storage cavity 8141 above the temporary conveying belt 821, and the books supported by the inner wall of the storage shell 811 fall down through the temporary first opening 8111 and the temporary second opening 8142 under the action of gravity and contact the temporary conveying belt 821, and the books are driven away from the temporary storage cavity 81 by the temporary conveying belt 821.

[0100] The book temporary storage and taking and placing method comprises the following steps:

[0101] S1, the books in the bookshelf are taken out and placed in the temporary storage device, and S2 is performed; the books in the temporary storage device are swung into the bookshelf, and S14 is performed.

[0102] S2, the lifting device 2 drives the clamping device 6 to move along the Z-axis direction, so that the clamping device 6 is at the same height as the books to be taken out.

[0103] S3, the horizontal moving device 3, the first swinging device 4 and the second swinging device 5 jointly drive the clamping device 6 to move along the Y-axis and the X-axis, so that the clamping device 6 corresponds to the horizontal position of the books to be taken out, and the actuator of the clamping device 6 moves above one side of the books to be taken out.

[0104] S4, the adjusting device drives the second clamping member to move away from the first clamping member.

[0105] S5, the actuator motor drives the actuator 653 to swing towards the accommodation cavity 623, the actuator 653 presses the books to be taken out, and the books are inclined towards the accommodation cavity 623; the adjusting device drives the second clamping member to move close to the first clamping member, and the two first conveying devices contact the side surface of the books, and the friction between the two first conveying devices and the books clamps the books. The actuator motor drives the actuator 653 to swing away from the accommodation cavity 623 and reset.

[0106] S6, the roller motors 641 of the two first conveying devices rotate forward to convey the books, and at the same time, the actuator 653 swings towards the accommodation cavity 623 to press the other side of the books, the top of the books swings away from the accommodation cavity in the moving process of the books, and the books are corrected from the inclined state to the vertical state under the joint action of the pressure of the actuator 653 and the conveying of the two first conveying devices 64, so as to reduce the inclination of the books; when the books completely enter the accommodation cavity 623, S7 is performed.

[0107] S7, the two first conveying devices stop moving.

[0108] S8, the horizontal moving device, the first swing device and the second swing device drive the clamping device to move along the Y axis and the X axis, so that the clamping device corresponds to the horizontal position of the conveying channel.

[0109] S9, the lifting device drives the clamping device to move along the Z axis to approach the conveying channel, when the bottom of the book is contacted with the temporary conveying belt, S10 is performed.

[0110] S10, the temporary rotating motor 815 drives the temporary rotating part 814 to rotate, so that a temporary cavity 8141 without storing books corresponds to the inlet and outlet 8121.

[0111] S11, the temporary conveying belt is started, the roller motor of the first conveying device is positively rotated, the conveying speed of the temporary conveying belt is greater than the conveying speed of the first conveying device, the book top swings in the opposite direction of the advancing direction of the book top relative to the book bottom, then the adjusting device drives the second clamping part to move away from the first clamping part, the clamping hand releases the clamping of the book, while the book swings in the opposite direction of the advancing direction of the book, the other side of the book bottom is contacted with the temporary conveying belt, and the book is corrected from the inclined state to the vertical state.

[0112] S12, the temporary conveying belt 821 conveys the book to the direction close to the inlet and outlet 8121, and the book enters the temporary cavity 8141 through the inlet and outlet 8121.

[0113] S13, the temporary rotating motor 815 drives the temporary rotating part 814 to rotate, the temporary cavity 8141 drives the book to move away from the inlet and outlet 8121, and a closed cavity is formed between the temporary cavity 8141 and the inner wall of the warehouse shell 811 to store the book, then S1 is performed.

[0114] S14, the horizontal moving device, the first swing device and the second swing device drive the clamping device to move along the Y axis and the X axis, so that the clamping device corresponds to the horizontal position of the conveying channel.

[0115] S15, the lifting device 2 drives the clamping device 6 to approach the conveying channel 823, so that the containing cavity 623 of the clamping device 6 corresponds to the conveying channel of the temporary conveying belt 821.

[0116] S16, the adjusting device drives the second clamping part to move away from the first clamping part, and the containing cavity 623 is opened.

[0117] S17, the temporary rotating motor 815 drives the temporary rotating part 814 to rotate, so that a temporary cavity 8141 storing books corresponds to the inlet and outlet 8121, and the book falls on the temporary conveying belt through the temporary second outlet and the temporary first outlet.

[0118] S18, the temporary storage conveying belt conveys the books in the direction away from the import and export 8121, and the books enter the accommodation cavities 623,

[0119] S19, the adjusting device drives the second clamping piece to approach the first clamping piece, and the two first conveying devices are in contact with the side surfaces of the books, and the friction between the two first conveying devices and the books clamps the books.

[0120] S20, the lifting device drives the clamping device to move along the Z-axis direction, so that the clamping device is at the same height as the to-be-placed position of the books; the transverse moving device, the first swing device and the second swing device jointly drive the clamping device to move along the Y-axis and the X-axis, so that the clamping device corresponds to the to-be-placed position of the books in the horizontal direction and approaches the to-be-placed position of the books.

[0121] S21, the first clamping piece and the second clamping piece extend into the books between the two sides of the to-be-placed position of the books in the bookshelf, and the first clamping piece and the second clamping piece enlarge the gap between the two books in the bookshelf.

[0122] S22, the roller motors 641 of the two first conveying devices are reversely rotated to convey the books, and the books are conveyed into the to-be-placed position of the books; then S1 is performed.

[0123] The above method, the lifting device drives the clamping device to correspond to different vertical heights, the transverse moving device, the first swing device and the second swing device drive the clamping device to correspond to books at different horizontal positions and different longitudinal positions; and then the clamping device can take out the books at different positions in the bookshelf, and the books taken out from the bookshelf are stored in the temporary storage device, and when the books leave the clamping device and enter the temporary storage conveying belt, the clamping device can take out another book in the bookshelf again; the books in the bookshelf are continuously taken out and stored. When the books are taken out from the temporary storage device and swung into the bookshelf, when the books leave the temporary storage conveying belt and enter the clamping device, the temporary storage rotating piece is reversely rotated again to move another book in the temporary storage cavity to the temporary storage conveying belt; when the clamping device places the clamped books into the bookshelf, the clamping device can move again to receive the books output by the temporary storage conveying belt, and the books taken out from the temporary storage device are continuously swung into the bookshelf; and the steps of taking out the books from the bookshelf and the steps of placing the books into the bookshelf can be alternately performed.

[0124] When the books are tilted into the accommodation cavities by the pushing piece, the pushing piece and the two first conveying devices correct the tilted books for the first time; the temporary storage conveying belt and the two first conveying devices correct the tilted books for the second time; and the books are modified from the tilted state to the vertical state, which is convenient for storage.

Claims

1. A method for temporarily storing and retrieving books, characterized in that: The book temporary storage and taking and placing device is realized by a book temporary storage and taking and placing device, which comprises a chassis, a traveling device, a lifting device and a temporary storage device arranged on the chassis, the traveling device is used to drive the chassis to move, the lifting device is connected with a transverse moving device, the transverse moving device is connected with a first swing device, the first swing device is connected with a second swing device, and the second swing device is connected with a clamping and taking device; The first swing device drives the second swing device and the clamping and taking device to swing synchronously along the length direction of the transverse moving device; the second swing device drives the clamping and taking device to swing along the length direction of the transverse moving device relative to the first swing device; The clamping and taking device comprises a rotary motor and a clamping hand, the rotary motor is fixed on the second swing device, the output end of the rotary motor is connected with the clamping hand, the rotary motor drives the clamping hand to rotate circumferentially around the axis of the first direction, and the first direction is arranged in parallel with the length direction of the swing arm; The clamping hand comprises a first clamping piece and a second clamping piece, the first clamping piece is connected with the output end of the rotary motor, and the second clamping piece is arranged opposite to the first clamping piece; an adjusting device is arranged between the top of the first clamping piece and the top of the second clamping piece, the adjusting device is used to adjust the distance between the first clamping piece and the second clamping piece; a containing cavity is formed between the first clamping piece, the second clamping piece and the adjusting device, the containing cavity is provided with openings on both sides and the bottom; the first clamping piece and the second clamping piece are both provided with a first conveying device, and the two first conveying devices are arranged opposite to each other in the containing cavity; A pushing device is further arranged between the first clamping piece and the second clamping piece, the pushing device is arranged above the adjusting device, the pushing device comprises a pushing motor, a pushing support and a pushing piece, the pushing motor is installed on one side of the first clamping piece, the output end of the pushing motor is connected with the pushing support, the pushing support is arranged to extend towards the second clamping piece, one end of the pushing piece is connected with the pushing support and arranged perpendicularly to the pushing support, and the pushing motor is used to drive the pushing piece to swing towards the containing cavity; The temporary storage device is arranged on the chassis, the temporary storage device comprises a temporary storage bin body and a temporary storage conveying device; the temporary storage conveying device is arranged on the chassis, and the temporary storage bin body is arranged above one end of the temporary storage conveying device; the temporary storage conveying device comprises a temporary storage conveying belt, conveying baffles are arranged on both sides of the temporary storage conveying belt, and a conveying channel is formed between the two conveying baffles; The temporary storage bin body comprises a bin body shell, a temporary storage first opening is arranged at the bottom of the bin body shell, and an inlet and outlet are arranged on the side surface of the bin body shell; the conveying channel, the temporary storage first opening and the inlet and outlet are communicated with each other; one end of the temporary storage conveying belt extends into the bin body shell through the temporary storage first opening and the inlet and outlet, and the two conveying baffles abut against the side surface of the bin body shell; A rotatable temporary storage rotating piece is arranged in the bin body shell, the temporary storage rotating piece is arranged above the temporary storage conveying belt, the temporary storage rotating piece comprises two or more temporary storage cavities, and each temporary storage cavity is provided with a temporary storage second opening; the temporary storage rotating piece is connected with a temporary storage rotating motor, the temporary storage rotating motor drives the temporary storage rotating piece to rotate, so that the temporary storage second opening of any temporary storage cavity, the temporary storage first opening, the inlet and outlet and the temporary storage conveying belt are communicated with each other; the lifting device, the transverse moving device, the first swing device and the second swing device are used to drive the containing cavity of the clamping and taking device to correspond to the conveying channel of the temporary storage conveying device. A book temporary storage and taking and placing method comprises the following steps: S1, books in a bookshelf are taken out and placed in a temporary storage device for S2; books in the temporary storage device are taken out and swung into the bookshelf for S14; S2, a lifting device drives a clamping device to move along a Z-axis direction so that the clamping device is at the same height as a book to be taken out; S3, a horizontal moving device, a first swinging device and a second swinging device jointly drive the clamping device to move along a Y-axis and an X-axis so that the clamping device corresponds to a horizontal position of the book to be taken out, and a pushing member moves above a side of the book to be taken out; S4, an adjusting device drives a second clamping member to move away from a first clamping member; S5, a pushing motor drives the pushing member to swing towards the containing cavity, the pushing member pushes the book out, and the book tilts towards the containing cavity; the adjusting device drives the second clamping member to move close to the first clamping member, two first conveying devices contact the side of the book, and the friction between the two first conveying devices and the book clamps the book; the pushing motor drives the pushing member to swing away from the containing cavity and return to the original position; S6, the rollers of the two first conveying devices rotate in a forward direction to convey the book, and the pushing member swings towards the containing cavity to press the other side of the book, the top of the book swings away from the containing cavity around the contact point between the bottom of the book and the bookshelf in the moving process of the book, and the inclination of the book is reduced; when the book completely enters the containing cavity, S7 is performed; S7, the two first conveying devices stop moving; S8, the horizontal moving device, the first swinging device and the second swinging device drive the clamping device to move along the Y-axis and the X-axis so that the clamping device corresponds to the position of the conveying channel and is close to the conveying channel in the horizontal direction; S9, the lifting device drives the clamping device to move along the Z-axis to be close to the conveying channel, and when the side of the bottom of the book clamped by the clamping device contacts the temporary storage conveying belt, S10 is performed; S10, a temporary storage rotating motor drives a temporary storage rotating member to rotate so that a temporary storage cavity without storing a book corresponds to the inlet and outlet; S11, the temporary storage conveying belt starts, and the rollers of the two first conveying devices rotate in a forward direction; the conveying speed of the temporary storage conveying belt is greater than the conveying speed of the first conveying device; the top of the book swings relative to the bottom of the book in the opposite direction of the forward direction of the book; then the adjusting device drives the second clamping member to move away from the first clamping member, and the clamping hand releases the clamping of the book; while the book swings in the opposite direction of the forward direction of the book, the other side of the bottom of the book contacts the temporary storage conveying belt, and the book is corrected from the inclined state to the vertical state; S12, the temporary storage conveying belt conveys the book towards the inlet and outlet, and the book enters the temporary storage cavity through the inlet and outlet; S13, the temporary storage rotating motor drives the temporary storage rotating member to rotate, the temporary storage cavity drives the book away from the inlet and outlet, a closed cavity is formed between the temporary storage cavity and the inner wall of the storage body shell to store the book, and then S1 is performed; S14, the horizontal moving device, the first swinging device and the second swinging device drive the clamping device to move along the Y-axis and the X-axis so that the clamping device corresponds to the horizontal position of the conveying channel; S15, the lifting device drives the clamping device to move towards the conveying channel so that the containing cavity of the clamping device corresponds to the conveying channel of the temporary storage conveying belt; S16, the adjusting device drives the second clamping member away from the first clamping member, and the containing cavity is opened; S17, the temporary rotation motor drives the temporary rotation member to rotate, so that a temporary cavity storing books corresponds to the import and export; the books fall on the temporary conveying belt through the temporary second outlet and the temporary first outlet; S18, the temporary conveying belt conveys the books away from the import and export, and the books enter the containing cavity; S19, the adjusting device drives the second clamping member to be close to the first clamping member, and the two first conveying devices contact the side surface of the books, and the friction between the two first conveying devices and the books clamps the books; S20, the lifting device drives the clamping device to move along the Z-axis direction, so that the clamping device is at the same height as the to-be-placed position of the books; the transverse moving device, the first swing device and the second swing device jointly drive the clamping device to move along the Y-axis and the X-axis, so that the clamping device corresponds to the to-be-placed position of the books and is close to the to-be-placed position of the books. S21, the first clamping piece and the second clamping piece are inserted between the books on both sides of the to-be-placed position of the books in the bookshelf, and the first clamping piece and the second clamping piece enlarge the gap between the two books in the bookshelf; S22, the roller motors of the two first conveying devices are reversely rotated to convey the books, and then S1 is performed.

2. The book temporary storage and retrieval method according to claim 1, wherein: The adjusting device comprises an adjusting fixed seat, an adjusting sliding seat and an adjusting motor, the adjusting fixed seat comprises an adjusting first connecting part, an adjusting second connecting part and an adjusting connecting piece, the adjusting connecting piece connects the adjusting first connecting part and the adjusting second connecting part, the adjusting motor is installed on the adjusting first connecting part, and the adjusting second connecting part is fixedly connected with the first clamping member; the adjusting sliding seat is arranged between the adjusting first connecting part and the adjusting second connecting part and located at one side of the adjusting connecting piece, and the adjusting sliding seat is connected with the second clamping member; An adjusting threaded hole is arranged in the adjusting sliding seat; an adjusting lead screw is connected with the output end of the adjusting motor, and the adjusting lead screw is rotatably connected with the adjusting second connecting part through the adjusting threaded hole of the adjusting sliding seat; an adjusting sliding groove is arranged at one side of the adjusting connecting piece, and an adjusting sliding block extending from one end of the adjusting sliding seat close to the adjusting sliding groove is slidably arranged in the adjusting sliding groove.

3. The method of claim 1, wherein: The first conveying device is arranged in the containing groove in the first clamping member and the second clamping member, and the first clamping piece and the second clamping piece are arranged above and below the containing groove in the first clamping member and the second clamping member, respectively; the first clamping piece and the second clamping piece are arranged away from the pushing motor, and the first clamping piece and the second clamping piece are oppositely arranged and are arranged to be bent towards the containing cavity.

4. The book temporary storage and retrieval method according to claim 1, wherein: The first swing device comprises a swing first fixed seat and a swing arm; the swing first fixed seat is connected with the movable end of the transverse moving device, one end of the swing arm is hinged to the swing first fixed seat; a first swing motor is arranged on the swing first fixed seat, and a swing driving gear is connected with the output end of the first swing motor; a swing driven gear is arranged at the hinge position of the swing arm and the swing first fixed seat, the swing driving gear is engaged with the swing driven gear, and the first swing motor drives the swing arm to swing relative to the transverse moving device.

5. The book temporary storage and retrieval method according to claim 4, wherein: The second swing device comprises a swing second fixing base and a second swing motor, the swing second fixing base is located above the swing arm; the second swing motor is installed on the swing second fixing base, an output end of the second swing motor is connected with an end of the swing arm away from the horizontal moving device, a first thrust bearing is provided on the output end of the second swing motor, the first thrust bearing is arranged between the swing second fixing base and the swing arm and abuts against the swing second fixing base and the swing arm; the second swing motor drives itself to swing relative to the swing arm, the swinging second swing motor drives the clamping device on the swing second fixing base to move.

6. The book temporary storage and retrieval method according to claim 1, wherein: The warehouse body shell comprises a warehouse body shell body and a warehouse body cover plate, the warehouse body cover plate is arranged on one side of the warehouse body shell body, and the temporary storage first opening is arranged at the bottom of the warehouse body shell body; and the inlet and outlet are arranged on the side of the warehouse body cover plate.

7. The method of claim 1, wherein: The warehouse body shell body is connected with a supporting column, the supporting column is connected with the bottom disc, and a driving connection hole is arranged at the bottom of the warehouse body shell; a temporary storage rotating motor is installed at one end of the supporting column close to the bottom disc, and the temporary storage rotating motor is connected with a temporary storage driving gear; one side of the temporary storage rotating piece is provided with a temporary storage driven gear, and the temporary storage driving gear passes through the driving connection hole and is engaged with the temporary storage driven gear.

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