A method for using a book clip holder

Abstract

This invention provides a method for operating a book-retrieving clamp, which includes a rotatable gripper; the gripper can cooperate with books in different placement positions; the gripper is also provided with an adjustment device for adjusting the gripper spacing; enabling the gripper to cooperate with books of different thicknesses; the gripper is also provided with a toggle device for toggleing the book into the receiving cavity of the gripper; then simultaneously, a first conveying device rotates forward to transport the book, so that the book is completely inserted into the receiving cavity; when the book is swung, the first conveying device rotates in the reverse direction to transport the book out of the receiving cavity.

Description

Technical Field

[0001] This invention relates to the field of book retrieval equipment technology, specifically to a working method for a book retrieval clamp. Background Technology

[0002] In library management, tasks such as book classification, handling, and shelving require significant manpower and time, increasing the workload of librarians and sometimes leading to errors in book classification and shelving. In the wave of information technology, the lack of mechanized automation devices in traditional libraries is a common challenge. Automation and intelligentization of library operations can fundamentally reduce the workload of librarians and improve work efficiency. Using robots to classify and automatically retrieve books and documents can not only reduce the disturbance and damage to the preservation environment of important documents caused by frequent entry and exit of librarians, but also better protect these documents. Therefore, it is necessary to design a dedicated book-grabbing mechanism to replace manual labor to a certain extent and reduce labor intensity.

[0003] A Chinese patent application with application number 201921807781.X and publication date of June 30, 2020, discloses a special gripping mechanism for loading and unloading books. The mechanism includes a trolley, a horizontal moving mechanism connected to the trolley, a vertical moving mechanism connected to the horizontal moving mechanism, a horizontal longitudinal moving mechanism connected to the vertical moving mechanism, and a book gripping mechanism connected to the horizontal longitudinal moving mechanism. However, since books are not necessarily placed vertically on the support surface, the vertically positioned gripper cannot hold books that are tilted. Furthermore, the gripping mechanism's wrist can only rotate horizontally along the Y-axis slide, not circumferentially along the Y-axis lead screw, thus the gripper remains vertically positioned. When a book is tilted, its sides are tilted relative to the gripper, preventing the gripper from contacting the sides of the book and thus failing to grip it. Additionally, when the gripper extends, it impacts the book, pushing it back to its original position. Meanwhile, the upper finger of the device is driven by the upper and lower book-clamping cylinders, which in turn drive the upper finger to move vertically. When the upper finger contacts the top of the book, the upper finger will press down on the bookshelf by retracting the upper and lower book-clamping cylinders, making it impossible to remove the book and making the operation inconvenient. Summary of the Invention

[0004] This invention provides a method for using a book-retrieving clip, which can remove books that are placed at an angle and place them vertically in the desired location. The operation is simple and reliable.

[0005] To achieve the above objectives, the technical solution of the present invention is: a working method of a book-retrieving clamp, which is implemented by the book-retrieving clamp, the book-retrieving clamp being connected to a moving component, the book-retrieving clamp including a rotary motor and a gripper, the moving component being used to drive the gripper to move along the X-axis, Y-axis and Z-axis respectively; the rotary motor is mounted on the moving component, the output end of the rotary motor is connected to the gripper, and the rotary motor drives the gripper to rotate.

[0006] The gripper includes a first clamping member and a second clamping member. The first clamping member is connected to the output end of a rotary motor, and the second clamping member is disposed opposite to the first clamping member. An adjustment device is connected between the top of the first clamping member and the top of the second clamping member to adjust the distance between the first clamping member and the second clamping member. An accommodating cavity is formed between the first clamping member, the second clamping member and the adjustment device, and the accommodating cavity has openings on both sides and the bottom. The first clamping member and the second clamping member are each provided with a first conveying device, and the two first conveying devices are disposed opposite to each other in the accommodating cavity.

[0007] A first clamping piece is provided on one side of the first clamping member, and a second clamping piece is provided on one side of the second clamping piece; the first clamping piece and the second clamping piece are arranged opposite to each other; the distance between the first clamping piece and the second clamping piece is smaller than the distance between the first clamping member and the second clamping member.

[0008] A toggle device is also provided between the first clamping member and the second clamping member. The toggle device is located above the adjusting device. The toggle device includes a toggle motor, a toggle support, and a toggle member. The toggle motor is installed on one side of the first clamping member. The output end of the toggle motor is connected to the toggle support. The toggle support extends toward the second clamping member. One end of the toggle member is connected to the toggle support and is perpendicular to the toggle support. The toggle motor drives the toggle member to swing toward the accommodating cavity.

[0009] The method for retrieving the book clip includes the following steps:

[0010] S1. The adjusting device drives the second clamping member away from the first clamping member.

[0011] S2. If the books are placed at an angle on the bookshelf, proceed to S3; if the books are placed vertically on the bookshelf, proceed to S8.

[0012] S3. The rotary motor drives the gripper to rotate, so that the gripper's accommodating cavity is parallel to the book, and the actuating element is located at the top of the book.

[0013] S4. The moving component drives the gripper to approach the book; when the book is between the first and second grippers, the moving component stops moving.

[0014] S5. The adjusting device drives the second clamping member to approach the first clamping member, and the first clamping piece and the second clamping piece clamp the book.

[0015] S6. The rotary motor drives the gripper to reset, and the gripper rotates the book to straighten it vertically.

[0016] S7. The adjusting device drives the second clamping member away from the first clamping member.

[0017] S8. The moving component drives the actuating element to move to the top of the book near the gripper; the actuating motor drives the actuating element to swing towards the receiving cavity, the actuating element presses down and pulls out the book, the book tilts towards the receiving cavity; the adjusting device drives the second clamping element to approach the first clamping element, 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.

[0018] S9. Move the motor-driven moving part to swing away from the accommodating cavity to reset.

[0019] S10: The roller motors of the two first conveying devices rotate in the forward direction to convey the book. At the same time, the actuating element swings towards the accommodating cavity and presses down on the other side of the book. During the movement, the top of the book swings away from the accommodating cavity around the contact point between the bottom of the book and the bookshelf. Under the combined action of the pressure of the actuating element and the conveying of the two first conveying devices 64, the book is corrected from an inclined state to a vertical state, reducing the inclination of the book. After the book has completely entered the accommodating cavity, proceed to S11.

[0020] S11, The moving component drives the gripper to move to the position where the book is to be placed.

[0021] S12, the moving component drives the gripper to move closer to the book to be placed; the first and second grippers extend into the books on both sides of the book to be placed in the bookshelf, and the first and second grippers widen the gap between the two books in the bookshelf.

[0022] S13. The roller motors of the two first conveying devices rotate in opposite directions to convey the books to the book placement position.

[0023] The above method first determines the placement of the book to be retrieved from the bookshelf. Then, the gripper rotates to hold the book in place, ensuring that the first and second grippers can hold it securely. This prevents the vertically positioned gripper from failing to retrieve tilted books. The gripper then rotates the book synchronously to ensure it is placed vertically, allowing it to tilt sideways into the receiving cavity when being removed. This prevents tilted books from falling over due to gravity when being removed. After straightening the tilted book, it can be placed vertically in its designated position. Furthermore, the first and second grippers widen the gap between the book to be placed and the books on either side of the bookshelf during placement, facilitating the transfer of the book from the gripper to the designated position between the two books on the bookshelf. The operation is simple and reliable.

[0024] Furthermore, the adjustment device includes an adjustment fixed base, an adjustment sliding base, and an adjustment motor. The adjustment fixed base includes an adjustment first connecting part, an adjustment second connecting part, and an adjustment connecting member. The adjustment connecting member connects the adjustment first connecting part and the adjustment second connecting part. The adjustment motor is mounted on the adjustment first connecting part, and the adjustment second connecting part is fixedly connected to the first clamping member. The adjustment sliding base is disposed between the adjustment first connecting part and the adjustment second connecting part and is located on one side of the adjustment connecting member. The adjustment sliding base is connected to the second clamping member.

[0025] An adjusting threaded hole is provided in the adjusting sliding seat; an adjusting screw is connected to the output end of the adjusting motor, and the adjusting screw passes through the adjusting threaded hole of the adjusting sliding seat and is rotatably connected to the second adjusting connection part; an adjusting groove is provided on one side of the adjusting connection part, and an adjusting slider extends from the end of the adjusting sliding seat near the adjusting groove, and the adjusting slider is slidably disposed in the adjusting groove.

[0026] The above configuration restricts the adjustment sliding seat from rotating circumferentially along the adjustment screw by cooperating with the adjustment slide groove and the adjustment slider. When the adjustment screw rotates, it will drive the adjustment sliding seat to move axially along the adjustment screw. The moving adjustment sliding seat will cause the second clamping member to move closer to or further away from the first clamping member, thereby adjusting the distance between the first clamping member and the second clamping member.

[0027] Furthermore, a rubber block is provided at the end of the actuating element away from the actuating support.

[0028] The above settings increase the friction between the actuating component and the book by adding a rubber block, while preventing the actuating component from damaging the book.

[0029] Furthermore, both the first clamping member and the second clamping member are provided with receiving grooves, the first conveying device is respectively disposed in the two receiving grooves, the first clamping member is disposed above and below the receiving grooves, and the second clamping member is disposed above and below the receiving grooves; the first clamping plate and the second clamping plate are disposed away from the actuating motor.

[0030] Furthermore, the first clip and the second clip are arranged opposite to each other and bent toward the direction of the receiving cavity.

[0031] The above configuration involves bending the first and second clips towards the accommodating cavity. The distance between the first and second clips is smaller than the distance between the first and second clamping members, allowing the first and second clips to easily extend into the gap between two books in the bookshelf.

[0032] Furthermore, the first conveying device includes a roller motor, a driven roller, and a first conveyor belt. The roller motor is rotatably disposed at one end of the receiving groove, and the driven roller is rotatably disposed at the other end of the receiving groove. The first conveyor belt is sleeved on the roller motor and the driven roller, and the roller motor drives the first conveyor belt to rotate.

[0033] The above setup involves a roller motor driving the first conveyor belt to rotate, with the two first conveyor belts contacting the sides of the books to achieve book transport. Attached Figure Description

[0034] Figure 1 A three-dimensional schematic diagram showing the connection between the book-retrieving clip and the fixed base.

[0035] Figure 2 This is a schematic diagram of the book-retrieving clip after it has been rotated.

[0036] Figure 3 This is a three-dimensional schematic diagram of the actuating device in the book-retrieving clamp.

[0037] Figure 4 This is a three-dimensional schematic diagram of the adjustment device in the book-retrieving clamp.

[0038] Figure 5 A top view showing the connection between the gripper and the adjustment device.

[0039] Figure 6 This is a schematic diagram of the actuating element in the book-retrieving clamp swinging near the receiving cavity.

[0040] Figure 7 This is a schematic diagram showing the book tilting towards the cavity.

[0041] Figure 8 This is a schematic diagram illustrating how the book is adjusted using the actuating mechanism in the book-retrieving clamp.

[0042] Figure 9 This is a schematic diagram of the book after it was modified from a tilted position to a vertical position. Detailed Implementation

[0043] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0044] like Figure 1-9 As shown; a method for operating a book-retrieving clamp 6, the book-retrieving clamp 6 including a rotary motor 61 and a gripper 62. In this embodiment, the rotary motor 61 is fixed to a fixed base 51 for use, and the output end of the rotary motor 61 is connected to the gripper 62. The rotary motor 61 drives the gripper 62 to rotate circumferentially around the output end of the rotary motor 61. (Refer to...) Figure 2As shown, the first direction is the axial direction of the output end of the rotary motor 61. The gripper 62 is driven to rotate by the rotary motor 61, and the gripper 62 rotates circumferentially relative to the swing arm 42. Thus, the gripper 62 can grip books vertically, horizontally, and diagonally; this allows for gripping books in different placement positions. It has a wide range of applications.

[0045] The gripper 62 includes a first gripping member 621 and a second gripping member 622. The first gripping member 621 is connected to the output end of the rotary motor 61, and the second gripping member 622 is disposed opposite to the first gripping member 621. An adjustment device 63 is connected between the top of the first gripping member 621 and the top of the second gripping member 622. The adjustment device 63 is used to adjust the distance between the first gripping member 621 and the second gripping member 622. By adjusting the distance between the first gripping member 621 and the second gripping member 622 through the adjustment device 63, the gripper 62 can grip books of different thicknesses.

[0046] A receiving cavity 623 is formed between the first clamping member 621, the second clamping member 622 and the adjusting device 63. The receiving cavity 623 has openings on both sides and at the bottom. A receiving groove 624 is provided in both the first clamping member 621 and the second clamping member 622. A first conveying device 64 is provided in each of the two receiving grooves 624. The two first conveying devices 64 are arranged opposite to each other in the receiving cavity 623.

[0047] A toggle device 65 is also provided between the first clamping member 621 and the second clamping member 622. The toggle device 65 is located above the adjusting device 63. The toggle device 65 includes a toggle motor 651, a toggle support 652 and a toggle member 653. The toggle motor 651 is installed on one side of the first clamping member 621. The output end of the toggle motor 651 is connected to the toggle support 652. The toggle support 652 extends toward the second clamping member 622. One end of the toggle member 653 is connected to the toggle support 652 and is perpendicular to the toggle support 652. The toggle motor 651 drives the toggle member 653 to swing toward the accommodating cavity 623. Both the actuating device 65 and the adjusting device 63 are located on the top of the gripper 62. The accommodating cavity 623 has openings on both sides and the bottom. When gripping a large book, the sides of the large book can extend out of the gripper 62 through the openings, and the bottom of the large book can extend out of the gripper 62 through the openings. The gripper 62 can grip books of different sizes, making it highly practical.

[0048] The actuating device 65 and the two first conveying devices 64 are used to drive the book into the accommodating cavity 623. The book 90 is placed on the bookshelf 91. When the book 90 is taken out of the bookshelf 91, the actuating motor 651 drives the actuating member 653 to swing downward. The actuating member 653 contacts one side of the top of the book 90 and drives the book 90 closer to the accommodating cavity 623. Since the bookshelf 91 supports the book 90, the top of the book 90 tilts towards the accommodating cavity 623. Then the actuating member 653 returns to its original position, and the two first conveying devices 64 drive the book 91 into the accommodating cavity 623 along the F1 direction. During the movement of the book 91, the bookshelf 91 supports the book 90, and the actuating member 653 swings downward along the F2 direction to contact the other side of the top of the book 90, so that the book 90 is corrected from a tilted state to a vertical state during the movement. Then the adjusting device drives the second clamping member to move closer to the first clamping member to clamp the paper in the accommodating cavity 623. When placing the book held by the book-retrieving clamp 6, the book-retrieving clamp 6 is driven to move along the X-axis direction by the horizontal movement device 3, the first swing device 4 and the second swing device 5. When the book-retrieving clamp 6 is moved to the bookshelf 91, the two first conveying devices 64 move the book 91 away from the accommodating cavity 623 in the opposite direction of F1, so that the book 90 is moved from the book-retrieving clamp 6 to the bookshelf 91.

[0049] In this embodiment, a first clamping piece 625 is provided above and below the receiving groove 624 of the first clamping member 621, and a second clamping piece 626 is provided above and below the receiving groove 624 of the second clamping member 622. The first clamping piece 625 and the second clamping piece 626 are disposed away from the toggle motor 651. The first clamping piece 625 and the second clamping piece 626 are disposed opposite to each other and bent toward the receiving cavity 623. When arranging books, the drawings to be placed need to be placed in the gap between two books in the bookshelf. By setting the first clamping piece 625 and the second clamping piece 626 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. The first clamping piece 625 and the second clamping piece 626 can easily extend into the gap between two books in the bookshelf. Then, the first clamping member 621 and the second clamping member 622 widen the gap between two books in the bookshelf. This makes it convenient to output the drawings to be swung in the clamp 62 into the gap between two books in the bookshelf.

[0050] The actuating support 652 includes a first actuating support 6521 and a second actuating support 6522. The first actuating support 6521 is connected to the output end of the actuating motor 651, and one end of the first actuating support 6521 extends upward away from the adjusting device 63. The second actuating support 6522 is perpendicular to the first actuating support 6521 and extends to the top of the first actuating support 6521. By extending one end of the first actuating support 6521 upward away from the adjusting device 63, the height of the top of the first actuating support 6521 is increased, thereby increasing the height of the actuating member 653 connected to the second actuating support 6522, thus allowing the actuating member 653 to avoid the adjusting device 63.

[0051] The actuating component 653 includes a first actuating connector 6531, a second actuating connector 6532, and a third actuating connector 6533. The first actuating connector 6531 is connected to the actuating second support component 6522. The second actuating connector 6532 is positioned away from the actuating second support component 6522 and above the first actuating connector 6531. The third actuating component 653 is inclined and connected to both the first and second actuating connectors 6531 and 6532. A rubber block 6534 is provided on the second actuating connector 6532. The second actuating connector 6532 is used to push out the book. By setting the second actuating connector 6532 at a higher horizontal height than the first actuating connector 6531, it is easier to cooperate with the top of the book to push it out. The rubber block 6534 increases the friction between the actuating component 653 and the book, while preventing the actuating component 653 from damaging the book.

[0052] The adjusting device 63 includes an adjusting fixed base 631, an adjusting sliding base 632, and an adjusting motor 633. The adjusting fixed base 631 includes an adjusting first connecting part 6311, an adjusting second connecting part 6312, and an adjusting connecting member 6313. The adjusting connecting member 6313 connects the adjusting first connecting part 6311 and the adjusting second connecting part 6312. The adjusting motor 633 is mounted on the adjusting first connecting part 6311. The adjusting second connecting part 6312 is fixedly connected to the first clamping member 621. In this embodiment, the adjusting second connecting part 6312 and the first clamping member 621 are integrally formed. The adjusting sliding base 632 is disposed between the adjusting first connecting part 6311 and the adjusting second connecting part 6312 and is located on one side of the adjusting connecting member 6313. The adjusting sliding base 632 is connected to the second clamping member 622.

[0053] An adjusting threaded hole (not shown in the figure) is provided in the adjusting sliding seat 632; the output end of the adjusting motor 633 is connected to an adjusting screw 634, which passes through the adjusting threaded hole of the adjusting sliding seat 632 and is rotatably connected to the adjusting second connecting part 6312; an adjusting groove 635 is provided on one side of the adjusting connecting part 6313, and an adjusting slider 636 extends from the end of the adjusting sliding seat 632 near the adjusting groove 635, which is slidably disposed in the adjusting groove 635. The adjusting groove 635 and the adjusting slider 636 cooperate to restrict the adjusting sliding seat 632 from rotating circumferentially along the adjusting screw 634. Thus, when the adjusting screw 634 rotates, it will drive the adjusting sliding seat 632 to move axially along the adjusting screw 634. The moving adjusting sliding seat 632 will drive the second clamping member 622 to move closer to or away from the first clamping member, thereby adjusting the distance between the first clamping member 621 and the second clamping member 622.

[0054] The first conveying device 64 includes a roller motor 641, a driven roller 642, and a first conveyor belt 643. The roller motor 641 is rotatably mounted at one end of the receiving groove 624, and the driven roller 642 is rotatably mounted at the other end of the receiving groove 624. The first conveyor belt 643 is sleeved on the roller motor 641 and the driven roller 642, and the roller motor 641 drives the first conveyor belt 643 to rotate. By driving the first conveyor belt 643 to rotate, the two first conveyor belts 643 come into contact with the sides of the books, thereby realizing the transfer of the books.

[0055] The book-grabbing holder is connected to the moving assembly, which includes a Z-axis moving device, a Y-axis moving device, and an X-axis moving device connected together. All three moving devices are cylinders. In this embodiment, the fixed base 51 is installed in the moving assembly.

[0056] The fixed end of the Y-axis moving device is connected to the movable end of the Z-axis moving device, and the fixed end of the X-axis moving device is connected to the movable end of the Y-axis moving device. The Z-axis moving device is used to drive the book-grabbing clamp to move vertically. The Y-axis moving device is used to drive the book-grabbing clamp to move longitudinally. The X-axis moving device is used to drive the book-grabbing clamp to move laterally.

[0057] The method for retrieving the book clip includes the following steps:

[0058] S1. The adjusting device drives the second clamping member away from the first clamping member.

[0059] S2. If the books are placed at an angle on the bookshelf, proceed to S3; if the books are placed vertically on the bookshelf, proceed to S8.

[0060] S3. The rotary motor drives the gripper to rotate, so that the gripper's accommodating cavity is parallel to the book, and the actuating element is located at the top of the book.

[0061] S4. The moving component drives the gripper to approach the book; when the book is between the first and second grippers, the moving component stops moving.

[0062] S5. The adjusting device drives the second clamping member to approach the first clamping member, and the first clamping piece and the second clamping piece clamp the book.

[0063] S6. The rotary motor drives the gripper to reset, and the gripper rotates the book to straighten it vertically.

[0064] S7. The adjusting device drives the second clamping member away from the first clamping member.

[0065] S8. The moving component drives the actuating element to move to the top of the book near the gripper; the actuating motor drives the actuating element to swing towards the receiving cavity, the actuating element presses down and pulls out the book, the book tilts towards the receiving cavity; the adjusting device drives the second clamping element to approach the first clamping element, 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.

[0066] S9. Move the motor-driven moving part to swing away from the accommodating cavity to reset.

[0067] S10: The roller motors of the two first conveying devices rotate in the forward direction to convey the book. At the same time, the actuating element swings towards the accommodating cavity and presses down on the other side of the book. During the movement, the top of the book swings away from the accommodating cavity around the contact point between the bottom of the book and the bookshelf. Under the combined action of the pressure of the actuating element and the conveying of the two first conveying devices 64, the book is corrected from an inclined state to a vertical state, reducing the inclination of the book. After the book has completely entered the accommodating cavity, proceed to S11.

[0068] S11, The moving component drives the gripper to move to the position where the book is to be placed.

[0069] S12, the moving component drives the gripper to move closer to the book to be placed; the first and second grippers extend into the books on both sides of the book to be placed in the bookshelf, and the first and second grippers widen the gap between the two books in the bookshelf.

[0070] S13. The roller motors of the two first conveying devices rotate in opposite directions to convey the books to the book placement position.

[0071] The above method first determines the placement of the book to be retrieved from the bookshelf. Then, the gripper rotates to hold the book in place, ensuring that the first and second grippers can hold it securely. This prevents the vertically positioned gripper from failing to retrieve tilted books. The gripper then rotates the book synchronously to ensure it is placed vertically, allowing it to tilt into the receiving cavity when being removed. This prevents tilted books from falling over due to gravity when being removed. After straightening the tilted book, it can be placed vertically in its designated position. Furthermore, the first and second grippers widen the gap between the book to be placed and the books on either side of the bookshelf during placement, facilitating the transfer of the book from the gripper to the designated position between the two books on the bookshelf.

Claims

1. A method for operating a book-retrieving clip, characterized in that: This is achieved through a book-grabbing clamp, which is connected to a moving component. The book-grabbing clamp includes a rotary motor and a gripper. The moving component is used to drive the gripper to move along the X-axis, Y-axis and Z-axis respectively. The rotary motor is mounted on the moving component, and the output end of the rotary motor is connected to the gripper. The rotary motor drives the gripper to rotate. The gripper includes a first clamping member and a second clamping member. The first clamping member is connected to the output end of a rotary motor, and the second clamping member is disposed opposite to the first clamping member. An adjustment device is connected between the top of the first clamping member and the top of the second clamping member to adjust the distance between the first clamping member and the second clamping member. A receiving cavity is formed between the first clamping member, the second clamping member, and the adjustment device. The receiving cavity has openings on both sides and the bottom. Both the first clamping member and the second clamping member are provided with a first conveying device, and the two first conveying devices are disposed opposite to each other in the receiving cavity. A first clamping piece is provided on one side of the first clamping member, and a second clamping piece is provided on one side of the second clamping piece; the first clamping piece and the second clamping piece are arranged opposite to each other; the distance between the first clamping piece and the second clamping piece is smaller than the distance between the first clamping member and the second clamping member. A toggle device is provided between the first clamping member and the second clamping member. The toggle device is located above the adjustment device. The toggle device includes a toggle motor, a toggle support, and a toggle member. The toggle motor is installed on one side of the first clamping member. The output end of the toggle motor is connected to the toggle support. The toggle support extends toward the second clamping member. One end of the toggle member is connected to the toggle support and is perpendicular to the toggle support. The toggle motor drives the toggle member to swing toward the accommodating cavity. The method for retrieving the book clip includes the following steps: S1. The adjusting device drives the second clamping member away from the first clamping member; S2. If the books are placed at an angle on the bookshelf, proceed to S3; if the books are placed vertically on the bookshelf, proceed to S8. S3. The rotary motor drives the gripper to rotate, so that the gripper's accommodating cavity is parallel to the book, and the actuating element is located at the top of the book. S4. The moving component drives the gripper to approach the book; when the book is between the first and second grippers, the moving component stops moving. S5. The adjusting device drives the second clamping member to approach the first clamping member, and the first clamping piece and the second clamping piece clamp the book. S6. The rotary motor drives the gripper to reset, and the gripper rotates the book to straighten it vertically. S7. The adjusting device drives the second clamping member away from the first clamping member; S8. The moving component drives the toggle to move to the top of the book near the gripper; the toggle motor drives the toggle to swing towards the receiving cavity, the toggle presses down and pulls out the book, the book tilts towards the receiving cavity; the adjusting device drives the second clamping member to approach the first clamping member, 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. S9. The toggle motor drives the toggle element to swing away from the accommodating cavity to reset; S10: The roller motors of the two first conveying devices rotate in the forward direction to convey the book. At the same time, the actuating element swings towards the accommodating cavity and presses down on the other side of the book. During the movement, the top of the book swings away from the accommodating cavity around the contact point between the bottom of the book and the bookshelf. Under the combined action of the pressure of the actuating element and the conveying of the two first conveying devices 64, the book is corrected from an inclined state to a vertical state, reducing the inclination of the book. After the book has completely entered the accommodating cavity, proceed to S11. S11, The moving component drives the gripper to move to the position where the book is to be placed; S12, The moving component drives the gripper to move closer to the book to be placed; the first and second grippers extend into the books on both sides of the book to be placed in the bookshelf, and the first and second grippers widen the gap between the two books in the bookshelf. S13. The roller motors of the two first conveying devices rotate in opposite directions to convey the books to the book placement position.

2. The working method of the book-retrieving clip according to claim 1, characterized in that: The adjusting device includes an adjusting fixed base, an adjusting sliding base, and an adjusting motor. The adjusting fixed base includes an adjusting first connecting part, an adjusting second connecting part, and an adjusting connecting member. The adjusting connecting member 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 to the first clamping member. The adjusting sliding base is disposed between the adjusting first connecting part and the adjusting second connecting part and is located on one side of the adjusting connecting member. The adjusting sliding base is connected to the second clamping member. An adjusting threaded hole is provided in the adjusting sliding seat; an adjusting screw is connected to the output end of the adjusting motor, and the adjusting screw passes through the adjusting threaded hole of the adjusting sliding seat and is rotatably connected to the second adjusting connection part; an adjusting groove is provided on one side of the adjusting connection part, and an adjusting slider extends from the end of the adjusting sliding seat near the adjusting groove, and the adjusting slider is slidably disposed in the adjusting groove.

3. The working method of the book-retrieving clip according to claim 1, characterized in that: A rubber block is provided at the end of the actuating element away from the actuating support.

4. The working method of the book-retrieving clip according to claim 1, characterized in that: Both the first clamping member and the second clamping member are provided with receiving grooves. The first conveying device is respectively set in the two receiving grooves. The first clamping member is set above and below the receiving grooves, and the second clamping member is set above and below the receiving grooves. The first clamping plate and the second clamping plate are set away from the actuating motor.

5. The working method of the book-retrieving clip according to claim 4, characterized in that: The first clamp and the second clamp are positioned opposite each other and bent toward the direction of the accommodating cavity.

6. The working method of the book-retrieving clip according to claim 4, characterized in that: The first conveying device includes a roller motor, a driven roller, and a first conveyor belt. The roller motor is rotatably mounted at one end of the receiving groove, and the driven roller is rotatably mounted at the other end of the receiving groove. The first conveyor belt is sleeved on the roller motor and the driven roller, and the roller motor drives the first conveyor belt to rotate.

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