A temporary storage and retrieval robot for books

Abstract

The application provides a temporary storage and taking and placing robot for books, which comprises a temporary storage device, a lifting device, a transverse movement device, a first swing device, a second swing device and a clamping device. The lifting device drives the clamping device to move along the Z-axis direction. The transverse movement device drives the clamping device to move along the Y-axis direction. The transverse movement device, the first swing device and the second swing device jointly drive the clamping device to move along the X-axis direction. The clamping device comprises a clamping hand which can rotate in a circumferential direction. 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 poking device is arranged on the clamping hand. The poking device is used for poking 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, and particularly relates to a robot for temporarily storing and taking and placing books. 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, errors in classification and shelving of books occur. In the information wave, the lack of an automatic device based on mechanization in a traditional library is a common present situation. The automation and intelligentization of library work can fundamentally reduce the labor intensity of librarians and improve work efficiency. The use of a robot 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 a collection room, but also is beneficial to the protection of documents. Therefore, a book shelving and unshelving special grabbing mechanism needs to be designed to replace manual labor to a certain 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 comprises 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 a support surface, the vertically arranged gripper cannot clamp the books placed obliquely. The wrist of the grabbing mechanism can only rotate horizontally along the Y-axis slide table, and cannot rotate circumferentially along the Y-axis screw, so that the gripper is always kept vertically arranged. When the books are placed obliquely, the side surface of the books is inclined relative to the gripper, so that the gripper cannot contact the two sides of the books, and thus the books cannot be clamped. Meanwhile, when the gripper is extended, it will hit the books and push the books back to the original position. The grabbing device only swings in the horizontal plane by a rotary cylinder, and the swinging range of the grabbing device is small. Meanwhile, the device cannot temporarily store books and cannot move multiple books. SUMMARY

[0004] The present application provides a robot for temporarily storing and taking and placing books. The temporary storage device stores books, the grabbing device has a large swinging range and good flexibility, can rotate to clamp books in different swinging states, and the actuating member can avoid the adjusting device while actuating the books.

[0005] In order to achieve the above object, the technical scheme of the present application is: a temporary storage and taking and placing machine for books, comprising a chassis, a walking device and a lifting device are arranged on the chassis, the lifting device is connected with a transverse moving device, the walking device is used to drive the chassis to move; further comprising a temporary storage device, a first swing device, a second swing device and a clamping device, one end of the first swing device is connected with the transverse moving device, the other end of the second swing device is connected with the second swing device, and the clamping device is installed on the second swing device.

[0006] The first swing device drives the second swing device and the clamping device to swing synchronously along the length direction of the transverse moving device; the second swing device drives the clamping device to swing relative to the first swing device along the length direction of the transverse moving device.

[0007] 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 with the swing first fixed seat; a first swing motor is arranged on the swing first fixed seat, and the output end of the first swing motor is connected with a swing driving gear; a swing driven gear is arranged at the hinged 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.

[0008] The second swing device comprises a swing second fixed seat and a second swing motor, and the swing second fixed seat is located above the swing arm; the second swing motor is installed on the swing second fixed seat, the output end of the second swing motor is connected with one end of the swing arm away from the transverse moving device, a first thrust bearing is arranged on the output end of the second swing motor, and the first thrust bearing is arranged between the swing second fixed seat and the swing arm and abuts against the swing second fixed seat 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 fixed seat to move.

[0009] The clamping 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.

[0010] 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 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, 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 a first conveying device, and the two first conveying devices are arranged opposite to each other in the containing cavity.

[0011] The stirring device further comprises a stirring motor, a stirring support and a stirring piece, the stirring motor is installed on one side of the first clamping piece, the output end of the stirring motor is connected with the stirring support, the stirring support extends towards the second clamping piece, one end of the stirring piece is connected with the stirring support and is arranged perpendicularly to the stirring support, and the stirring motor is used to drive the stirring piece to swing towards the accommodating cavity.

[0012] The stirring support comprises a stirring first support and a stirring second support, the stirring first support is connected with the output end of the stirring motor, and one end of the stirring first support extends upwards away from the adjusting device; the stirring second support is arranged perpendicularly to the stirring first support and extends from the top end of the stirring first support.

[0013] The stirring piece comprises a first stirring connecting piece, a second stirring connecting piece and a third stirring connecting piece, the first stirring connecting piece is connected with the stirring second support, the second stirring connecting piece is arranged away from the stirring second support and is located above the first stirring connecting piece, and the third stirring connecting piece is arranged obliquely and is connected with the first stirring connecting piece and the second stirring connecting piece; a rubber block is arranged on the second stirring connecting piece.

[0014] The temporary storage device is arranged on the base plate, and 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 both sides of the temporary storage conveying belt, and a conveying channel is formed between the two conveying baffles.

[0015] 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 in communication; 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.

[0016] A rotatable temporary storage rotating piece is arranged in the bin body shell, the temporary storage rotating piece is located 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 in communication; the lifting device, the transverse moving device, the first swinging device and the second swinging device are used to drive the accommodating cavity of the clamping device to correspond to the conveying channel of the temporary storage conveying device.

[0017] The lifting device is used to drive the vertical movement of the clamping device alone, the horizontal movement device is used to drive the longitudinal movement of the clamping device alone, and the horizontal movement device is also used to drive the lateral movement of the clamping device in cooperation with the first swing device and the second swing device, so that the clamping device can move along the Z-axis, the Y-axis and the X-axis, and the clamping device can cooperate with books in different height positions, different lateral positions or different longitudinal positions. The first swing device drives the clamping device to swing around the hinge between the first fixed seat and the swing arm as the axis, and the second swing device drives the clamping device to swing around the connection between the second swing device and the swing arm as the axis, so that the clamping device has a large range of movement around the Z-axis. When the horizontal movement device is not in action, the first swing device and the second swing device can respectively drive the clamping device to swing in the horizontal plane formed by the longitudinal movement and the lateral movement, so that the clamping device has good flexibility.

[0018] The gripper is driven to rotate by the rotary motor, and the gripper rotates around the swing arm in the circumferential direction, so that the gripper can vertically hold books, laterally hold books and obliquely hold books, thereby being capable of holding books in different placement states. The application range is wide. The distance between the first clamping part and the second clamping part is adjusted by the adjusting device, so that the gripper can hold books of different thicknesses. Meanwhile, the actuating device and the adjusting device are arranged on the top of the gripper, and the two sides and the bottom of the accommodating cavity have openings. When large-area books are clamped, the two sides of the large-area books can extend out of the gripper through the openings, and the bottom of the large-area books can extend out of the gripper through the openings. The gripper can hold books of different areas, and has good practicability.

[0019] By extending the end of the first supporting part away from the adjusting part upward, the height of the top end of the first supporting part is raised, and the height of the actuating part connected with the second supporting part is also raised, so that the actuating part can avoid the adjusting device. The actuating part and the adjusting device do not interfere with each other. Meanwhile, the second actuating connecting part is used to push out books. By arranging the second actuating connecting part with a horizontal height higher than the first actuating connecting part, the books can be pushed out in cooperation with the top of the books.

[0020] The books are pushed out by the actuating part swinging downward by a certain angle, so that part of the books enters the accommodating cavity, and then the books are transported by the two conveying devices, so that the complete books enter the accommodating cavity. The books clamped in the accommodating cavity can correspond to the temporary storage device through the action of the lifting device, the horizontal movement device, the first swing device and the second swing device.

[0021] The temporary storage device is used for storing books, and the temporary conveying belt is used for conveying the books output by the clamping device into the temporary storage cavity, conveying baffles are arranged on both sides of the temporary conveying belt, and the conveying baffles are used for resisting the side of the books, so that the books are prevented from falling to both sides in the conveying process and being separated from the temporary conveying belt; the temporary storage inlet and outlet are arranged, so that the books on the temporary conveying belt can pass through the temporary storage inlet and outlet and enter the temporary storage cavity above the temporary conveying belt, the temporary rotating member is driven to rotate by the temporary rotating motor, the books in the temporary storage cavity are supported by the inner wall of the cavity shell, and the books placed in the temporary storage cavity are stored in the temporary storage cavity.

[0022] The temporary storage first opening and the temporary storage second opening are arranged, when the books are taken out from the temporary storage cavity, the temporary rotating member is driven to rotate by the rotating motor, the temporary storage cavity containing the books is moved above the temporary conveying belt, the books supported by the inner wall of the cavity shell fall down through the temporary storage first opening and the temporary storage second opening under the action of gravity and are in contact with the temporary conveying belt, and the books are driven away from the temporary storage cavity by the temporary conveying belt.

[0023] 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.

[0024] An adjusting threaded hole is arranged in the adjusting sliding seat; an adjusting screw rod is connected with the output end of the adjusting motor, and the adjusting screw rod 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 slidingly arranged in the adjusting sliding groove.

[0025] The adjusting sliding groove and the adjusting sliding block are matched to limit the circumferential rotation of the adjusting sliding seat along the adjusting screw rod, so that when the adjusting screw rod rotates, the adjusting sliding seat is driven to move along the axial direction of the adjusting screw rod, the moving adjusting sliding seat drives the second clamping piece to move close to or away from the first clamping piece, and the spacing between the first clamping piece and the second clamping piece is adjusted.

[0026] Further, the first clamping piece and the second clamping piece are provided with accommodating grooves, the first conveying device is arranged in the accommodating grooves respectively, the first clamping piece is arranged above and below the accommodating groove of the first clamping piece, the second clamping piece is arranged above and below the accommodating groove of the second clamping piece, the first clamping piece and the second clamping piece are arranged away from the pushing motor, and the first clamping piece is arranged opposite to the second clamping piece and is arranged to be bent towards the accommodating cavity.

[0027] The above arrangement is that when the books are placed, the books to be placed are placed in the gap between two books in the bookshelf, the first clamping piece and the second clamping piece are arranged to be bent towards the accommodating cavity, the interval between the first clamping piece and the second clamping piece is smaller than the interval between the first clamping piece and the second clamping piece, the first clamping piece and the second clamping piece are easily stretched into the gap between two books in the bookshelf, and then the first clamping piece and the second clamping piece are used to expand the gap between two books in the bookshelf; in this way, the books to be placed in the hand are easily output to the gap between two books in the bookshelf.

[0028] Further, the first conveying device comprises a roller motor, a driven roller and a first conveying belt, the roller motor is rotatably arranged at one end of the accommodating groove, the driven roller is rotatably arranged at the other end of the accommodating groove, the first conveying belt is sleeved on the roller motor and the driven roller, and the roller motor drives the first conveying belt to rotate.

[0029] The above arrangement is that the first conveying belt is driven to rotate by the roller motor, the two first conveying belts are in contact with the side surface of the book, and the transmission of the book is realized.

[0030] Further, the swinging first fixing seat is provided with a hinged plate, the swinging arm is provided with a first swinging part and a second swinging part at one end close to the swinging first fixing seat, and the hinged plate is arranged between the first swinging part and the second swinging part; a second thrust bearing is arranged between the first swinging part and the hinged plate, and the first swinging part and the hinged plate are in abutment with the second thrust bearing; a third thrust bearing is arranged between the second swinging part and the hinged plate, and the second swinging part and the hinged plate are in abutment with the third thrust bearing; the swinging driven gear is fixed on the first swinging part and connected with one side of the second thrust bearing, the upper surface of the hinged plate extends a first connecting shaft, the first connecting shaft is rotatably connected with the swinging driven gear through the second thrust bearing, and the lower surface of the hinged plate extends a second connecting shaft, and the second connecting shaft is arranged in the second swinging part through the second thrust bearing.

[0031] The above arrangement is that the swinging driving gear is driven to rotate by the first swinging motor, the swinging driving gear drives the swinging driven gear to rotate, the swinging driven gear drives the swinging arm and one side of the second thrust bearing to rotate, and then the swinging arm is swung relative to the swinging first fixing seat.

[0032] Further, the lifting device is installed on the chassis, and the lifting device comprises a lifting support, a lifting motor, lifting guide shafts and a lifting sliding seat, one end of the lifting support is connected with the chassis, and the lifting motor is arranged at the other end of the lifting support; the lifting motor is connected with a lifting lead screw, the two lifting guide shafts are symmetrically arranged about the lifting lead screw, the lifting sliding seat is arranged on the lifting lead screw and the two lifting guide shafts, and the lifting motor drives the lifting sliding seat to move; and the transverse moving device is connected with the lifting sliding seat.

[0033] The above arrangement limits the circumferential rotation of the lifting sliding seat along the lifting lead screw through the lifting guide shafts, the lifting lead screw drives the lifting sliding seat to move in the axial direction of the lifting lead screw, the structure is simple, and the transverse moving device is synchronously moved through the lifting sliding seat.

[0034] Further, the transverse moving device comprises a transverse moving support, a transverse moving motor and a transverse moving sliding seat; the transverse moving support is fixed on the lifting sliding seat, the transverse moving motor is arranged on the transverse moving support, the transverse moving motor is connected with a transverse moving lead screw, and the transverse moving sliding seat is arranged on the transverse moving lead screw; a transverse moving guide rail is further arranged on the transverse moving support, the transverse moving sliding seat is connected with a transverse moving sliding block, and the transverse moving sliding block is slidably arranged on the transverse moving guide rail; the transverse moving motor drives the transverse moving sliding seat to move, and the first swing device is connected with the transverse moving sliding seat.

[0035] The above arrangement limits the circumferential rotation of the transverse moving sliding seat along the transverse moving lead screw through the transverse moving guide rail, the transverse moving lead screw drives the transverse moving sliding seat to move in the axial direction of the transverse moving lead screw, the structure is simple, and the first swing device is synchronously moved through the transverse moving sliding seat.

[0036] Further, the bin body shell comprises a bin body shell body and a bin body cover plate, the bin body cover plate is arranged on one side of the bin body shell body, and the temporary storage first opening is arranged at the bottom of the bin body shell body; and the inlet and outlet are arranged on the side surface of the bin body cover plate.

[0037] Further, the bin body shell body is connected with a supporting column, the supporting column is connected with the chassis, a driving connection hole is arranged at the bottom of the bin body shell, a temporary storage rotating motor is installed at one end of the supporting column close to the chassis, 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. Thus, the structure is simple. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 It is a three-dimensional schematic view of the present application.

[0039] Figure 2 It is a three-dimensional schematic view of the lifting device in the present application.

[0040] Figure 3 It is a three-dimensional schematic view of the transverse moving device in the present application.

[0041] Figure 4 Side view of the first swing device, the second swing device and the clamping device.

[0042] Figure 5 Figure 4 Enlarged view of a.

[0043] Figure 6 Exploded view of the first swing device and the second swing device.

[0044] Figure 7 Top view of the horizontal moving device, the first swing device, the second swing device and the clamping device.

[0045] Figure 8 Schematic view of the horizontal moving device, the first swing device, the second swing device after action.

[0046] Figure 9 Schematic view of the second swing device and the clamping device.

[0047] Figure 10 Schematic view of the clamping device after rotation.

[0048] Figure 11 Schematic view of the knob in the clamping device.

[0049] Figure 12 Schematic view of the adjusting device in the clamping device.

[0050] Figure 13 Top view of the clamping hand and the adjusting device.

[0051] Figure 14 Schematic view of the knob in the clamping device swinging close to the accommodating cavity.

[0052] Figure 15 Schematic view of the book tilting to the side of the accommodating cavity.

[0053] Figure 16 Schematic view of the book being corrected by the knob in the clamping device.

[0054] Figure 17 Schematic view of the book being corrected from the tilted state to the vertical state.

[0055] Figure 18 Side view of the clamping device corresponding to the temporary storage device.

[0056] Figure 19 Front view of the clamping device corresponding to the temporary storage device.

[0057] Figure 20 Schematic view of the temporary storage device removing the cover plate of the storage body.​

[0058] Figure 21 is an exploded view of the temporary storage body.

[0059] Figure 22 is a schematic view of the book being placed on the temporary storage device by the clamping device.

[0060] Figure 23 is a schematic view of the book being converted from an inclined state to a vertical state. DETAILED DESCRIPTION

[0061] The application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0062] As shown in Figures 1-23 ; a robot for temporarily storing and taking and placing books, comprising a chassis 1, a lifting device 2, a transverse movement device 3, a first swing device 4, a second swing device 5, a clamping device 6, a walking device 7 and a temporary storage device 8; the lifting device 2 is installed on the chassis 1, the transverse movement device 3 is connected with the lifting device 2, one end of the first swing device 4 is connected with the transverse movement device 3, the other end of the second swing device 5 is connected with the second swing device 5, and the clamping device 6 is installed on the second swing device 5; the lifting device 2 is used to drive the vertical movement of the clamping device 6 alone; the transverse movement device 3 is used to drive the longitudinal movement of the clamping device 6 alone; the transverse movement device 3 is also used to drive the lateral movement of the clamping device 6 in cooperation with the first swing device 4 and the second swing device 5; as shown in Figure 1 , the lifting device 2 drives the clamping device 6 to move along the Z-axis direction, the transverse movement device 3 drives the clamping device 6 to move along the Y-axis direction, and the transverse movement device 3, the first swing device 4 and the second swing device 5 jointly drive the transverse movement device 3 to move along the X-axis; in this way, the clamping device 6 can move along the Z-axis, the Y-axis and the X-axis; the clamping device 6 can cooperate with books at different heights, different lateral positions or different longitudinal positions.

[0063] As shown in Figures 5-9 ; 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 movement 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 movement device 3.

[0064] The first swing device 4 comprises a swing first fixing base 41 and a swing arm 42. The swing first fixing base 41 is connected with the movable end of the horizontal moving device 3. One end of the swing arm 42 is hinged with the swing first fixing base 41. A first swing motor 43 is arranged on the swing first fixing base 41. The output end of the first swing motor 43 is connected with a swing driving gear 44. A swing driven gear 45 is arranged at the hinged position of the swing arm 42 and the swing first fixing base 41. The swing driving gear 44 is engaged with the swing driven gear 45. The first swing motor 43 drives the swing arm 42 to swing relative to the horizontal moving device 3. In the embodiment, the swing driving gear 44 and the swing driven gear 45 are both conical gears.

[0065] The swing first fixing base 41 is provided with a hinged plate 411. The end of the swing arm 42 close to the swing first fixing base 41 is provided with a first swing part 421 and a second swing part 422. 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. The first swing part 421 and the hinged plate 411 are both 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. The second swing part 422 and the hinged plate 411 are both in abutment with the third thrust bearing 47.

[0066] 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 is arranged in the second swing part 422 through the second thrust bearing 46. The third thrust bearing 47 bears the load of the hinged plate in the axial direction of the second connecting shaft 413. The first swing motor 43 drives the swing driving gear 44 to rotate. The swing driving 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. Thus, the swing arm 42 swings relative to the swing first fixing base 41.

[0067] 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, the first thrust bearing 53 abuts 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.

[0068] Due to the meshing of the swing driving gear 44 and the swing driven gear 45, the swing driving 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.

[0069] The first swing device 4 drives the clamping device 6 to swing along the hinge between the first fixing base and the swing arm 42 as the axis; the second swing device 5 drives the clamping device 6 to swing along the connection between the second swing device 5 and the swing arm 42 as the axis, and the activity range of the clamping device 6 around the Z-axis direction is large. When the horizontal device does not act, 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 transverse movement, and the flexibility of the clamping device 6 is good.

[0070] Referring to Figure 1 , 5 When it is needed to drive the clamping device 6 to move along the X-axis direction, first, the horizontal moving device 3 drives the first swing device 4 to move horizontally along the Y-axis direction, at the same time, the first swing motor 43 drives the one end of the swing arm 42 close to the clamping device 6 to swing in the opposite direction of the horizontal movement of itself, and the second swing motor 52 drives the swing second fixing base 51 to swing in the opposite direction of the swing of the swing arm 42, so that the clamping device 6 moves horizontally along the X-axis direction is realized.

[0071] The clamping device 6 comprises a rotary motor 61 and a clamping hand 62, the rotary motor 61 is fixed on the swing second fixing base 51, the output end of the rotary motor 61 is connected with the clamping hand 62, the rotary 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 10The first direction is the axial direction of the output end of the rotary motor 61. The clamping hand 62 is driven to rotate by the rotary motor 61, and the clamping hand 62 rotates circumferentially relative to the swing arm 42, so that the clamping hand 62 can clamp books vertically, horizontally or obliquely, thereby clamping books in different placement states. The application range is wide.

[0072] The clamping hand 62 comprises a first clamping piece 621 and a second clamping piece 622. The first clamping piece 621 is connected with the output end of the rotary motor 61, and the second clamping piece 622 is arranged opposite to the first clamping piece 621. An adjusting device 63 is connected between the top of the first clamping piece 621 and the top of the second clamping piece 622, and the adjusting device 63 is used for adjusting the distance between the first clamping piece 621 and the second clamping piece 622. The distance between the first clamping piece 621 and the second clamping piece 622 is adjusted by the adjusting device 63, so that the clamping hand 62 can clamp books of different thicknesses.

[0073] A containing cavity 623 is formed between the first clamping piece 621, the second clamping piece 622 and the adjusting device 63, and the two sides and the bottom of the containing cavity 623 have openings. Containing grooves 624 are arranged in the first clamping piece 621 and the second clamping piece 622, and first conveying devices 64 are arranged in the two containing grooves 624, respectively. The two first conveying devices 64 are arranged opposite to each other in the containing cavity 623.

[0074] A pushing device 65 is further arranged between the first clamping piece 621 and the second clamping piece 622, and the pushing device 65 is located above the adjusting device 63. The pushing device 65 comprises a pushing motor 651, a pushing support 652 and a pushing piece 653. The pushing motor 651 is installed on one side of the first clamping piece 621, the output end of the pushing motor 651 is connected with the pushing support 652, the pushing support 652 extends to the second clamping piece 622, one end of the pushing piece 653 is connected with the pushing support 652 and is arranged perpendicularly to the pushing support 652, and the pushing motor 651 drives the pushing piece 653 to swing in the containing cavity 623. The pushing device 65 and the adjusting device 63 are arranged on the top of the clamping hand 62, and the two sides and the bottom of the containing cavity 623 have openings. When large-area books are clamped, the two sides of the large-area books can extend out of the clamping hand 62 through the openings, the bottom of the large-area books can extend out of the clamping hand 62 through the openings, the clamping hand 62 can clamp books of different areas, and the practicability is good.

[0075] The pushing device 65 and the two first conveying devices 64 are used for driving books into the containing cavity 623. Referring to Figures 14-17The 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 downward, the poking piece 653 contacts one side of the top of the books 90 and drives the books 90 to move close to the containing cavity 623, because the bookshelf 91 supports the books 90, and then the top of the books 90 is inclined to the containing cavity 623; then the poking piece 653 is reset, the two first conveying devices 64 drive the books 91 to enter the containing 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 downward 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 inclined state to the vertical state in the moving process; then the adjusting device drives the second clamping piece to move close to the first clamping piece, and the books in the containing 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, when the clamping device 6 moves to the bookshelf 91, the two first conveying devices 64 drive the books 91 to move away from the containing 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.

[0076] In the embodiment, the first clamping pieces 625 are arranged above and below the containing groove 624 of the first clamping piece 621, and the second clamping pieces 626 are arranged above and below the containing groove 624 of the second clamping piece 622, the first clamping pieces 625 and the second clamping pieces 626 are arranged away from the poking motor 651, and the first clamping pieces 625 are arranged opposite to the second clamping pieces 626 and are bent towards the containing cavity 623. When the books are placed, the books to be placed are placed in the gap between the two books in the bookshelf, the first clamping pieces 625 and the second clamping pieces 626 are bent towards the containing cavity 623, the distance between the first clamping pieces 625 and the second clamping pieces 626 is smaller than the distance between the first clamping piece 621 and the second clamping piece 622, and the first clamping pieces 625 and the second clamping pieces 626 can easily extend into the gap between the two books in the bookshelf, and then the first clamping piece 621 and the second clamping piece 622 can expand the gap between the two books in the bookshelf, so that the books to be placed in the clamping hand 62 can be easily output to the gap between the two books in the bookshelf.

[0077] The toggle support 652 comprises a toggle first support 6521 and a toggle second support 6522, the toggle first support 6521 is connected with the output end of the toggle motor 651, and one end of the toggle first support 6521 extends upward away from the adjusting device 63; the toggle second support 6522 is arranged perpendicularly to the toggle first support 6521 and extends from the top end of the toggle first support 6521. By extending one end of the toggle first support 6521 upward away from the adjusting device, the height of the top end of the toggle first support 6521 is increased, and then the height of the toggle piece 653 connected with the toggle second support 6522 is increased, so that the toggle piece 653 avoids the adjusting device 63.

[0078] The toggle piece 653 comprises a first toggle connecting piece 6531, a second toggle connecting piece 6532 and a third toggle connecting piece 6533, the first toggle connecting piece 6531 is connected with the toggle second support 6522, the second toggle connecting piece 6532 is arranged away from the toggle second support 6522 and above the first toggle connecting piece 6531, and the third toggle connecting piece 653 is arranged obliquely and connected with the first toggle connecting piece 6531 and the second toggle connecting piece 6532; a rubber block 6534 is arranged on the second toggle connecting piece 6532. The second toggle connecting piece 6532 is used for pushing out books, by arranging the second toggle connecting piece 6532 with a higher horizontal height than the first toggle connecting piece 6531, the books can be pushed out conveniently by cooperating with the top of the books. By arranging the rubber block 6534, the friction between the toggle piece 653 and the books is increased, and the books are prevented from being damaged by the toggle piece 653.

[0079] 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, and the adjusting second connecting part 6312 is fixedly connected with the first clamping piece 621; in this 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 on one side of the adjusting connecting piece 6313, and the adjusting sliding seat 632 is connected with the second clamping piece 622.

[0080] An adjusting screw hole (not shown in the figure) is arranged in the adjusting sliding seat 632; the output end of the adjusting motor 633 is connected with an adjusting screw rod 634, the adjusting screw rod 634 is rotatably connected with the adjusting second connecting part 6312 through the adjusting screw hole of the adjusting sliding seat 632; an adjusting sliding groove 635 is arranged on one side of the adjusting connecting piece 6313, and the adjusting sliding seat 632 extends an adjusting sliding block 636 at one end close to the adjusting sliding groove 635, and 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, so that 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, and the moving adjusting sliding seat 632 drives the second clamping piece 622 to approach or move away from the first clamping piece, so that the spacing between the first clamping piece 621 and the second clamping piece 622 is adjusted.

[0081] 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, and the roller motor 641 drives the first conveying belt 643 to rotate. The roller motor 641 drives the first conveying belt 643 to rotate, and the two first conveying belts 643 are in contact with the side of the book, so that the book is conveyed.

[0082] 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 with the bottom disc 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 on the lifting screw rod 25 and the two lifting guide shafts 23, and 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 lifting screw rod 25 rotates to drive the lifting sliding seat 24 to move along the axial direction of the lifting screw rod 25, and the structure is simple, and the transverse moving device 3 is driven to move synchronously by the lifting sliding seat 24.

[0083] The horizontal moving device 3 comprises a horizontal moving support 31, a horizontal moving motor 32 and a horizontal moving sliding seat 33; the horizontal moving support 31 is fixed on the lifting sliding seat 24, the horizontal moving motor 32 is arranged on the horizontal moving support 31, the horizontal moving motor 32 is connected with a horizontal moving screw rod 34, and the horizontal moving sliding seat 33 is arranged on the horizontal moving screw rod 34; a horizontal moving guide rail 35 is further arranged on the horizontal moving support 31, the horizontal moving sliding seat 33 is connected with a horizontal moving sliding block (not shown in the figure), and the horizontal moving sliding block is arranged on the horizontal moving guide rail 35 in a sliding mode; the horizontal moving motor 32 drives the horizontal moving sliding seat 33 to move, and the first swinging device 4 is connected with the horizontal moving sliding seat 33. The horizontal moving guide rail 35 is used for limiting the circumferential rotation of the horizontal moving sliding seat 33 along the horizontal moving screw rod 34, the horizontal moving screw rod 34 rotates to drive the horizontal moving sliding seat 33 to move along the axial direction of the horizontal moving screw rod 34, and the structure is simple; the horizontal moving sliding seat 33 drives the first swinging device 4 to move synchronously.

[0084] The walking device 7 is arranged on the chassis 1, and is used for driving 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 prior art, and will not be described here.

[0085] The temporary storage device 8 is arranged on the chassis 1, and 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, and the temporary storage bin body 81 is arranged 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, and a conveying channel 823 is formed between the two conveying baffles 822. The temporary storage device 8 is used for storing books, and the temporary storage conveying belt 821 is used for conveying the books output by the clamping device into the temporary storage bin body 81. The conveying baffles 822 arranged on both sides of the temporary storage conveying belt 821 are used for resisting the side surface of the books, so that the books are prevented from falling to both sides in the conveying process and being separated from the temporary storage conveying belt 821. The temporary storage conveying belt 821 is prior art, and will not be described here.

[0086] The temporary storage bin body 81 comprises a bin body shell, the bin body shell comprises a bin body shell body 811 and a bin body cover plate 812, the bin body cover plate 812 is arranged on one side of the bin body shell body 811, a supporting column 813 is arranged on the side of the bin body shell body 811 away from the bin body cover plate 812, and the supporting 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, an inlet and outlet 8121 is arranged on the side of the bin body cover plate 812, and the conveying channel 823, the temporary storage first opening 8111 and the inlet and outlet 8121 are in communication.

[0087] One end of the temporary storage conveying belt 821 extends into the warehouse body shell 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 warehouse cover plate 812. A fixed column 8112 is arranged in the warehouse body shell 811, and a temporary storage rotating member 814 is sleeved on the fixed 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 fixed column 8112.

[0088] The temporary storage rotating member 814 is located above the temporary storage conveying belt 821, and the temporary storage rotating member 814 includes 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 passage 823 of the temporary storage conveying device 82.

[0089] 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 at the bottom of the warehouse body shell 811. The temporary storage rotating motor 815 is installed at one end of the support column 813 close to the bottom plate, and the temporary storage rotating motor 815 is connected with a temporary storage drive gear 8151. The temporary storage drive 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.

[0090] 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 cavity 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 warehouse body shell supports the books in the temporary storage cavity 8141, so that the books placed in the temporary storage cavity 8141 are stored in the temporary storage warehouse 81.

[0091] By arranging the temporary storage first opening 8111 and the temporary storage second opening 8142, when the books are taken out from the temporary storage warehouse 81, the rotating motor drives the temporary storage rotating member 814 to rotate, so that the temporary storage cavity 8141 containing the books moves above the temporary storage conveying belt 821. The books supported by the inner wall of the warehouse body shell 811 fall down through the temporary storage first opening 8111 and the temporary storage second opening 8142 under the action of gravity and come into contact with the temporary storage conveying belt 821, and then the books are driven away from the temporary storage warehouse 81 by the temporary storage conveying belt 821.

[0092] The working method of the book temporary storage, taking and placing device includes the following steps:

[0093] 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.

[0094] 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 book to be taken out.

[0095] 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 book to be taken out, and the actuator of the clamping device 6 moves above the side of the book to be taken out.

[0096] S4, the adjusting device drives the second clamping piece to move away from the first clamping piece.

[0097] S5, the actuator motor drives the actuator 653 to swing towards the accommodation cavity 623, the actuator 653 presses the book to be taken out, and the book is inclined towards the accommodation cavity 623; the adjusting device drives the second clamping piece to move close to the first clamping piece, and the 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 actuator motor drives the actuator 653 to swing away from the accommodation cavity 623 and reset.

[0098] S6, the roller motors 641 of the two first conveying devices rotate forward to convey the book, and at the same time, the actuator 653 swings towards the accommodation cavity 623 to press the other side of the book. In the process of moving, the top of the book swings away from the accommodation cavity in the direction of the contact point between the bottom of the book and the bookshelf. Under the joint action of the pressure of the actuator 653 and the conveying of the two first conveying devices 64, the book is corrected from the inclined state to the vertical state, and the inclination of the book is reduced. When the book completely enters the accommodation cavity 623, S7 is performed.

[0099] S7, the two first conveying devices stop moving.

[0100] S8, the horizontal 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 conveying channel position and is close to the conveying channel in the horizontal direction.

[0101] S9, the lifting device drives the clamping device to move along the Z-axis direction to approach the conveying channel. When the side of the bottom of the book clamped by the clamping device contacts the temporary conveying belt, S10 is performed.

[0102] S10, the temporary rotating motor 815 drives the temporary rotating piece 814 to rotate, so that a temporary cavity 8141 without storing books corresponds to the inlet and outlet 8121.

[0103] S11, the temporary storage conveying belt is started, and the rollers of the two first conveying devices are driven to rotate in the forward direction; the conveying speed of the temporary storage conveying belt is greater than the conveying speed of the first conveying devices; the top of the book swings in the opposite direction of the advancing direction of the book itself relative to the bottom 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 advancing direction of the book itself, 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.

[0104] S12, the temporary storage conveying belt 821 conveys the book to the direction close to the inlet and outlet 8121, and the book enters the temporary storage cavity 8141 through the inlet and outlet 8121.

[0105] S13, the temporary storage rotating motor 815 drives the temporary storage rotating member 814 to rotate, the temporary storage cavity 8141 drives the book away from the inlet and outlet 8121, and a closed cavity is formed between the temporary storage cavity 8141 and the inner wall of the warehouse shell 811 to store the book; then S1 is performed.

[0106] 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.

[0107] S15, the lifting device 2 drives the clamping device 6 to move close to the conveying channel 823, so that the accommodation cavity 623 of the clamping device 6 corresponds to the conveying channel of the temporary storage conveying belt 821.

[0108] S16, the adjusting device drives the second clamping member to move away from the first clamping member, and the accommodation cavity 623 is opened.

[0109] S17, the temporary storage rotating motor 815 drives the temporary storage rotating member 814 to rotate, so that the temporary storage cavity 8141 storing the book corresponds to the inlet and outlet 8121; the book falls through the temporary storage second outlet and the temporary storage first outlet to the temporary storage conveying belt.

[0110] S18, the temporary storage conveying belt conveys the book away from the inlet and outlet 8121, and the book enters the accommodation cavity 623.

[0111] S19, 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 book, and the friction between the two first conveying devices and the book clamps the book.

[0112] S20, the lifting device drives the clamping device to move along the Z axis, so that the clamping device corresponds to the horizontal position of the book to be placed; the horizontal 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 placed and moves close to the book to be placed.

[0113] S21, the first and second clamping pieces extend into the books between the two sides of the bookshelf where the books are to be placed, and the first and second clamping pieces expand the gap between the two books in the bookshelf.

[0114] S22, the rollers of the two first conveying devices 641 are reversely rotated to convey the books, and the books are conveyed to the book placement position, and then S1 is performed.

[0115] The above method, the lifting device drives the clamping device to correspond to different vertical heights, and the horizontal movement 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 in the horizontal plane; further, the clamping device can take out 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 act again to take out another book from the bookshelf; 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 cavity 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 books from the bookshelf and the steps of placing books in the bookshelf can be alternately performed.

[0116] Because the books will be inclined into the accommodation cavity when the books are pushed out by the pushing member, the inclined books are first corrected by the pushing member and the two first conveying devices; the inclined books are secondly corrected by the temporary conveying belt and the two first conveying devices; the books are modified from an inclined state to a vertical state, which is convenient for storage.

Claims

1. A robot for temporarily storing and retrieving books, comprising a chassis, a walking device and a lifting device mounted on the chassis, the lifting device being connected to a traversing device, and the walking device being used to drive the chassis to move, characterized in that: The temporary storage device, the first swing device, the second swing device and the clamping device are further included, one end of the first swing device is connected with the horizontal moving device, the other end of the second swing device is connected with the second swing device, and the clamping device is installed on the second swing device; the first swing device drives the second swing device and the clamping device to swing synchronously along the length direction of the horizontal moving device; the second swing device drives the clamping device to swing along the length direction of the horizontal moving device relative to the first swing device; The first swing device includes a swing first fixed seat and a swing arm; the swing first fixed seat is connected with the movable end of the horizontal moving device, and one end of the swing arm is hinged with the swing first fixed seat; a first swing motor is arranged on the swing first fixed seat, and an output end of the first swing motor is connected with a swing driving gear; a swing driven gear is arranged at the hinged 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 horizontal moving device; The second swing device includes a swing second fixed seat and a second swing motor, and the swing second fixed seat is located above the swing arm; the second swing motor is installed on the swing second fixed seat, an output end of the second swing motor is connected with one 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 fixed seat and the swing arm and abuts against the swing second fixed seat and the swing arm; the second swing motor drives itself to swing relative to the swing arm, and the swing second motor drives the clamping device on the swing second fixed seat to move; The clamping device includes a rotating motor and a clamping hand, the rotating motor is fixed on the swing second fixed seat, an output end of the rotating motor is connected with the clamping hand, the rotating 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 includes a first clamping piece and a second clamping piece, the first clamping piece is connected with the output end of the rotating 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, 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 containing cavity has openings on both sides and the bottom; first conveying devices are arranged on the first clamping piece and the second clamping piece, 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, and the pushing device is located above the adjusting device; the pushing device includes a pushing motor, a pushing support and a pushing piece, the pushing motor is installed on one side of the first clamping piece, an 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. The poking support comprises a poking first support and a poking second support, the poking first support is connected with the output end of the poking motor, and one end of the poking first support extends upward away from the adjusting device; the poking second support is arranged perpendicularly to the poking first support and extends from the top end of the poking first support; The poking member comprises a first poking connecting piece, a second poking connecting piece and a third poking connecting piece, the first poking connecting piece is connected with the poking second support, the second poking connecting piece is arranged away from the poking second support and above the first poking connecting piece, and the third poking connecting piece is arranged obliquely and connected with the first and second poking connecting pieces; a rubber block is arranged on the second poking connecting piece; The temporary storage device is arranged on the base plate, and 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 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 in communication; 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 member is arranged in the bin body shell, the temporary storage rotating member is arranged above the temporary storage conveying belt, the temporary storage rotating member comprises two or more temporary storage cavities, and each temporary storage cavity 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, 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 in communication; the lifting device, the transverse moving device, the first swinging device and the second swinging device are used for driving the accommodation cavity of the clamping device to correspond to the conveying channel of the temporary storage conveying device.

2. The temporary storage and retrieval robot for books 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 mounted 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 on one side of the adjusting connecting piece, and the adjusting sliding seat is connected with the second clamping piece; An adjusting threaded hole is arranged in the adjusting sliding seat; the output end of the adjusting motor is connected with an adjusting lead screw, 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 on one side of the adjusting connecting piece, and an adjusting sliding block extends from one end of the adjusting sliding seat close to the adjusting sliding groove and is slidingly arranged in the adjusting sliding groove.

3. The temporary storage and retrieval robot for books according to claim 1, wherein: The first clamping piece and the second clamping piece are provided with accommodating grooves, the first conveying device is arranged in the accommodating grooves respectively, the first clamping piece is arranged above and below the accommodating groove of the first clamping piece, the second clamping piece is arranged above and below the accommodating groove of the second clamping piece, 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 in a bent manner towards the direction close to the accommodating cavity.

4. The temporary storage and retrieval robot for books according to claim 3, wherein: The first conveying device comprises a roller motor, a driven roller and a first conveying belt, the roller motor is rotatably arranged at one end of the accommodating groove, the driven roller is rotatably arranged at the other end of the accommodating groove, and the first conveying belt is sleeved on the roller motor and the driven roller.

5. The temporary storage and retrieval robot for books according to claim 1, wherein: The swing first fixing seat is provided with a hinged plate, the swing arm is provided with a first swing part and a second swing part at one end close to the swing first fixing seat, and the hinged plate is arranged between the first swing part and the second swing part; a second thrust bearing is arranged between the first swing part and the hinged plate, and the first swing part and the hinged plate are in abutment with the second thrust bearing; a third thrust bearing is arranged between the second swing part and the hinged plate, and the second swing part and the hinged plate are in abutment with the third thrust bearing; the swing driven gear is fixed on the first swing part and connected with one side of the second thrust bearing, the upper surface of the hinged plate extends a first connecting shaft, the first connecting shaft is rotatably connected with the swing driven gear through the second thrust bearing, and the lower surface of the hinged plate extends a second connecting shaft, and the second connecting shaft is arranged in the second swing part through the second thrust bearing.

6. The temporary storage and retrieval robot for books according to claim 1, wherein: The lifting device is mounted on the bottom disc, and comprises a lifting support, a lifting motor, lifting guide shafts and a lifting sliding seat, one end of the lifting support is connected with the bottom disc, and the lifting motor is arranged at the other end of the lifting support; the lifting motor is connected with a lifting screw rod, the lifting guide shafts are provided in two, the two lifting guide shafts are symmetrically arranged about the lifting screw rod, the lifting sliding seat is arranged on the lifting screw rod and the two lifting guide shafts, and the lifting motor drives the lifting sliding seat to move; and the transverse moving device is connected with the lifting sliding seat.

7. The temporary storage and retrieval robot for books according to claim 6, wherein: The transverse moving device comprises a transverse moving support, a transverse moving motor and a transverse moving sliding seat; the transverse moving support is fixed on the lifting sliding seat, the transverse moving motor is arranged on the transverse moving support, the transverse moving motor is connected with a transverse moving screw rod, and the transverse moving sliding seat is arranged on the transverse moving screw rod; the transverse moving support is further provided with a transverse moving guide rail, the transverse moving sliding seat is connected with a transverse moving sliding block, and the transverse moving sliding block is slidably arranged on the transverse moving guide rail; the transverse moving motor drives the transverse moving sliding seat to move, and the first swing device is connected with the transverse moving sliding seat.

8. The temporary storage and retrieval robot for books according to claim 1, wherein: The bin body shell comprises a bin body shell body and a bin body cover plate, the bin body cover plate is arranged on one side of the bin body shell body, and the temporary storage first opening is arranged at the bottom of the bin body shell body; and the inlet and outlet are arranged on the side surface of the bin body cover plate.

9. The temporary storage and retrieval robot for books according to claim 8, wherein: The bin body shell body is connected with a supporting column, the supporting column is connected with the bottom disc, and a driving connecting hole is arranged at the bottom of the bin body shell body; The temporary storage rotating motor is mounted on 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 is engaged with the temporary storage driven gear through the driving connecting hole.

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