Book arrangement machine trolley

Abstract

The utility model provides a book tidying machine car which comprises a position adjusting mechanism, a book tidying mechanism, a book tidying mechanism, a book tidying mechanism and a book tidying mechanism. The book temporary storage box is arranged on the jacking plate; the transferring mechanism comprises a mechanical arm and a book clamping assembly, the mechanical arm is connected to the jacking plate, and the book clamping assembly is arranged at the free end of the mechanical arm and comprises two book clamping plates; the auxiliary mechanism comprises a book supporting assembly, a book stirring assembly and a pushing assembly. The position adjusting mechanism drives the structure on the position adjusting mechanism to move at different positions of the bookshelf, books in the book temporary storage box are moved to the bookshelf through the transferring mechanism, so that the books are sorted, and in addition, the auxiliary mechanism can be highly matched with the transferring mechanism in the process, so that the sorting quality of the books is ensured. Compared with a conventional book storage and arrangement technology, the book storage and arrangement device has the advantages of being flexible to use, high in arrangement efficiency and quality, capable of remarkably reducing labor intensity, wide in application range and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of arranging tools, in particular to a book arranging machine vehicle. Background Art

[0002] At present, the library's book sorting work faces many severe challenges. The process is cumbersome and complicated, which greatly affects the efficiency and quality of book management.

[0003] Book sorting involves multiple links, from putting new books on the shelves, returning old books to daily inspections of the bookshelves, etc. Each step requires a lot of time and energy from the staff. Among them, the classification and shelving of books is an extremely meticulous and time-consuming task. It is particularly noteworthy that for books at a high height, operators often need to use structures such as escalators to assist in moving during the sorting process. In large libraries, bookshelves are usually designed to be high to make full use of the space to accommodate more books. This forces the staff to frequently move the escalator and climb up and down to operate when sorting books at high places. On the one hand, the frequent use of escalators not only increases the physical consumption of the staff and reduces work efficiency, but also poses certain safety risks. When the staff is taking and placing books on the escalator, if they are not careful, they may fall, posing a threat to their own safety. On the other hand, the frequent movement of the escalator may also cause certain damage to the bookshelf and the surrounding environment, such as scratching the surface of the bookshelf and colliding with other books.

[0004] In addition, in some library scenarios where bookshelf layouts need to be adjusted frequently, each adjustment requires replanning the escalator usage path, further increasing the complexity of book sorting. With the continuous increase in the number of library books and the increasing requirements of readers for the convenience of finding books, the existing book sorting methods can no longer meet the actual needs. An innovative technical solution is urgently needed to simplify the book sorting process, improve work efficiency, and reduce the labor intensity and safety risks of staff. Utility Model Content

[0005] Therefore, the technical problem to be solved by the utility model is to overcome the problems of high labor intensity and low efficiency of book sorting in the prior art, and to provide a book sorting machine vehicle.

[0006] In order to solve the above technical problems, the utility model provides a book sorting robot vehicle, which includes: a position adjustment mechanism, which includes a vehicle body, a lifting assembly and a lifting plate, the lifting assembly is arranged on the vehicle body and moves synchronously with the vehicle body, the lifting plate is arranged at the working end of the lifting assembly to move along its height direction through the lifting assembly; a book cache box, the book cache box is arranged on the lifting plate; a transfer mechanism, the transfer mechanism includes a mechanical arm and a book clamping assembly, the mechanical arm is connected to the lifting plate, the book clamping assembly is arranged at the free end of the mechanical arm, and the mechanical arm is used to move the book between the book cache box and the lifting plate. The book-pushing mechanism can be moved between bookshelves, and the book-pushing mechanism includes two book-clamping boards that can be opened and closed relative to each other; at least one auxiliary mechanism, which is arranged on the lifting plate and is located on one side of the transfer mechanism, and includes a book-supporting component, a book-pushing component and a pushing component, the book-supporting component is connected to a first lifting module, the book-pushing component is connected to a second lifting module, and includes two book-pushing boards, the two book-pushing boards are lifted and lowered along the second lifting module, and can be opened and closed relative to each other; the pushing component is connected to a third lifting module, and includes at least one book-pushing block and a pushing driver, the book-pushing block is connected to a working end of the pushing driver, and moves along a third direction through the pushing driver.

[0007] In one embodiment of the utility model, the book clamping assembly includes a first rotation driver, a first rotation plate and two first drive plates, the first rotation driver is arranged at the free end of the robotic arm, the middle part of the first rotation plate is connected to the working end of the first rotation driver so as to rotate around the first rotation center line, and two first sliding protrusions are respectively provided on both sides thereof, a first sliding groove is provided in the middle part of the first drive plate, the first sliding protrusion slides through the first sliding groove, and its end is connected to the book clamping board to drive the book clamping board to move relative to each other.

[0008] In one embodiment of the present invention, the book sorting robot vehicle comprises two auxiliary mechanisms, and the two auxiliary mechanisms are symmetrically arranged on two opposite sides of the transfer mechanism.

[0009] In one embodiment of the utility model, the auxiliary mechanism includes three lifting modules, the book supporting assembly, the book pushing assembly and the pushing assembly are respectively connected to one of the lifting modules, the lifting modules include a worm, a lifting drive, a transmission wheel and a transmission belt, the worm extends along the second direction, and its two ends are respectively connected to the lifting plate and the transmission wheel, and the two ends of the transmission wheel are respectively mounted on the working ends of the transmission wheel and the lifting drive to drive the worm to rotate around its axis.

[0010] In one embodiment of the utility model, the book supporting assembly includes a first horizontal module, a second horizontal module and a book supporting board, the first horizontal module is arranged on the lifting plate and extends along the first direction, the first lifting module is slidably connected to the first horizontal module and extends along the second direction, the second horizontal module moves along the first lifting module and extends along the third direction, and the book supporting board moves along the second horizontal module to be inserted between two adjacent books.

[0011] In one embodiment of the utility model, the second lifting module is arranged on the lifting plate and extends along the second direction. The two book picking plates are lifted and lowered along the second lifting module and can be relatively opened and closed to widen the interval gap between two adjacent books.

[0012] In one embodiment of the utility model, the book picking assembly includes a second rotary driver, a second rotary plate and two second drive plates, the second rotary driver is connected to the second lifting module and moves along the second lifting module, the middle part of the second rotary plate is connected to the working end of the second rotary driver so as to rotate around the second rotation center line, and two second sliding protrusions are respectively provided on both sides thereof, a second slide groove is provided in the middle part of the second drive plate, the second sliding protrusion slides through the second slide groove, and its end is connected to the book picking board to drive the book picking board to move relative to each other.

[0013] In one embodiment of the present invention, the third lifting module is disposed on the lifting plate and extends along the second direction, and at least one of the pushing drivers is lifted and lowered along the third lifting module.

[0014] In one embodiment of the utility model, the lifting assembly includes a connecting rod driver, a transmission rod and a connecting rod group. The connecting rod driver is arranged on the vehicle body, and its working end is connected to the middle part of the transmission rod. One end of the connecting rod group is rotatably connected to the two ends of the transmission rod, and the other end is rotatably connected to the lifting plate.

[0015] In one embodiment of the utility model, the book sorting robot vehicle includes a control system, the position adjustment mechanism, the transfer mechanism and the auxiliary mechanism are respectively connected to the control system, and the control system includes an identification module, a drive module and a monitoring module that are interconnected.

[0016] The above technical solution of the utility model has the following advantages compared with the prior art:

[0017] The book sorting robot vehicle described in the utility model drives the structure thereon to move at different positions of the bookshelf through the position adjustment mechanism, and moves the books in the book cache box to the bookshelf through the transfer mechanism, thereby realizing the sorting of books. In addition, the auxiliary mechanism can also cooperate with the transfer mechanism in this process to ensure the quality of book sorting. Compared with the conventional book storage and sorting technology at this stage, the present application has the advantages of flexible use, easy preparation, high sorting efficiency and quality, significant reduction in labor intensity, and wide application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the content of the utility model more clearly understood, the utility model is further described in detail below based on specific embodiments of the utility model in combination with the accompanying drawings.

[0019] Figure 1 It is a three-dimensional structural schematic diagram of a book sorting machine vehicle in a preferred embodiment of the utility model;

[0020] Figure 2 yes Figure 1 A three-dimensional structural diagram of a position adjustment mechanism in a book sorting robot vehicle is shown;

[0021] Figure 3 yes Figure 1 The three-dimensional structural diagram of the transfer mechanism in the book sorting robot vehicle shown;

[0022] Figure 4 yes Figure 3 A schematic diagram of the enlarged structure of the transport mechanism shown;

[0023] Figure 5 yes Figure 1 A schematic diagram of the three-dimensional structure of the book supporting assembly in the book sorting robot shown;

[0024] Figure 6 yes Figure 1 A three-dimensional structural diagram of a book-picking assembly in a book-sorting robot vehicle is shown;

[0025] Figure 7 yes Figure 6 A schematic diagram of the three-dimensional structure of the book-turning assembly from another perspective;

[0026] Figure 8 yes Figure 1 The three-dimensional structural schematic diagram of the pushing component in the book sorting robot vehicle is shown.

[0027] Description of the accompanying drawings: 100, position adjustment mechanism; 110, vehicle body; 111, driving wheel; 112, chassis; 120, lifting assembly; 121, connecting rod group; 122, connecting rod driver; 123, transmission rod; 130, lifting plate; 200, transfer mechanism; 210, mechanical arm; 220, book clamping assembly; 221, first rotating driver; 222, first rotating plate; 2221, first sliding protrusion; 223, first connecting plate; 224, first driving plate; 2241, first slide groove; 225, book clamping board; 300, book cache box; 400, auxiliary mechanism; 410, book supporting assembly; 411, first horizontal module; 412, second horizontal module; 413, book support plate; 414, first lifting platform; 420, book-pushing assembly; 421, second rotary driver; 422, second rotary plate; 4221, second sliding protrusion; 423, second connecting plate; 424, second driving plate; 4241, second slide groove; 425, book-pushing plate; 426, second lifting platform; 430, pushing assembly; 431, pushing driver; 432, book-pushing block; 433, third lifting platform; 440, lifting module; 441, worm; 442, lifting driver; 443, transmission wheel; 444, transmission belt; 1001, first rotation center line; 1002, second rotation center line; X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention. Example

[0029] See also Figure 1 As shown, the present embodiment provides a book sorting robot vehicle, which is used to place books to be sorted on bookshelves in scenes such as libraries, and includes a position adjustment mechanism 100, a book cache box 300, a transfer mechanism 200 and an auxiliary mechanism 400, wherein the position adjustment mechanism 100 is used to provide an installation platform for other structures, and can drive the mechanisms thereon to perform horizontal and / or vertical movements in the use scene, the book cache box 300 is used to store books to be sorted, the transfer mechanism 200 is used to move the books to be sorted to the corresponding positions on the bookshelf, and the auxiliary mechanism 400 is used to cooperate with the transfer mechanism 200 to improve the sorting quality of the books.

[0030] It should be noted that, for ease of description, in this embodiment, the horizontal moving direction of the position adjustment mechanism 100 in the book sorting robot vehicle is defined as the first direction X, the height direction of the book sorting robot vehicle is defined as the second direction Y, and the width direction of the book sorting robot vehicle is defined as the third direction Z, wherein the first direction X, the second direction Y and the third direction Z are arranged perpendicular to each other in pairs, and the first direction X and the third direction Z are located in the same plane.

[0031] See also Figure 1 and Figure 2 As shown, the position adjustment mechanism 100 in this embodiment includes a vehicle body 110, a lifting assembly 120 and a lifting plate 130. The lifting assembly 120 is arranged on the vehicle body 110 and moves synchronously with the vehicle body 110. The lifting plate 130 is arranged at the working end of the lifting assembly 120 so as to move along its height direction through the lifting assembly 120.

[0032] Specifically, the vehicle body 110 includes a chassis 112 and a driving wheel 111, which are used to drive the remaining structures to move horizontally in the working space. The lifting assembly 120 includes a connecting rod driver 122, a transmission rod 123 and a connecting rod group 121. The connecting rod driver 122 is arranged on the vehicle body 110, and its working end is connected to the middle of the transmission rod 123. One end of the connecting rod group 121 is rotatably connected to both ends of the transmission rod 123, and the other end is rotatably connected to the lifting plate 130. Further, the connecting rod driver 122 in this embodiment is preferably a linear cylinder, which can realize the lifting and lowering driving effect on the connecting rod group 121 by pushing the transmission rod 123. In different embodiments, the specific structure and driving mode of the lifting assembly 120 can be adjusted accordingly according to actual use requirements, and the utility model does not make specific restrictions on this.

[0033] See also Figure 2 As shown, the book cache box 300 in this embodiment is arranged at the center of the lifting plate 130 to ensure the stability of the position adjustment mechanism 100 during the movement. The transfer mechanism 200 is arranged on one side of the book cache box 300, which includes a mechanical arm 210 and a book clamping assembly 220. The mechanical arm 210 is connected to the lifting plate 130, and the book clamping assembly 220 is arranged at the free end of the mechanical arm 210. It moves between the book cache box 300 and the bookshelf through the mechanical arm 210, and includes two book clamping plates 225 that can be opened and closed relative to each other.

[0034] See also Figure 3 and Figure 4As shown, the robot 210 in this embodiment is preferably a six-axis robot 210 to improve its mobility and range. The book clamping assembly 220 includes a first rotation driver 221, a first rotation plate 222 and two first drive plates 224. The first rotation driver 221 is arranged at the free end of the robot 210. The middle part of the first rotation plate 222 is connected to the working end of the first rotation driver 221 to rotate around the first rotation center line 1001, and two first sliding protrusions 2221 are respectively provided on both sides thereof. A first sliding groove 2241 is provided in the middle part of the first drive plate 224. The first sliding protrusion 2221 slides through the first sliding groove 2241, and its end is connected to the book clamping plate 225 to drive the book clamping plate 225 to move relative to each other.

[0035] Furthermore, the present embodiment further includes two first connecting plates 223, which are used to improve the connection stability between the first rotating plate 222 and the first driving plate 224, so as to ensure that the first sliding protrusion 2221 can always move along the first sliding groove 2241. Specifically, the middle part of the connecting plate in the present embodiment is connected to the first rotating driver 221, which is arranged crosswise with the first rotating plate 222, and its two ends can be rotatably connected to the two first driving plates 224, so that a stable movable connection structure is formed between the first rotating plate 222, the first connecting plate 223 and the first driving plate 224. Specifically, based on the above-mentioned structural setting, the rotational driving force of the first rotating driver 221 can be converted into a linear driving effect for the first driving plate 224, so that the two book clamping plates 225 can move relatively close to / away to clamp / release the books to be sorted.

[0036] Furthermore, the book clamping plate 225 in this embodiment is preferably an "L"-shaped structure, whose upper end is used to connect with the first driving plate 224 to improve the connection stability, and whose side walls are used to squeeze and clamp books to increase the contact area with the books, thereby ensuring a stable transportation process for the books.

[0037] In this embodiment, the book sorting robot vehicle includes two auxiliary mechanisms 400, which are symmetrically arranged on opposite sides of the transfer mechanism 200, so that the transfer mechanism 200 can achieve the effect of alternately sorting the bookshelves on both sides. The two auxiliary mechanisms 400 are symmetrically arranged on both sides of the transfer mechanism 200 along the second direction Y. Here, one of the auxiliary mechanisms 400 is taken as an example for structural introduction:

[0038] In this embodiment, the auxiliary mechanism 400 is arranged on the lifting plate 130 and is located on one side of the transfer mechanism 200. It includes a book supporting component 410, a book shifting component 420 and a pushing component 430 which are arranged in sequence along the first direction X. The book supporting component 410 can straighten the books on the bookshelf, and then the gap between two adjacent books is widened by the book shifting component 420, so that the transfer mechanism 200 can smoothly place the books to be sorted on the bookshelf, and then the pushing component 430 pushes the books on the bookshelf along the second direction Y to further align the books.

[0039] See also Figure 5 As shown, the auxiliary mechanism 400 in this embodiment includes three lifting modules 440, the book supporting assembly 410, the book shifting assembly 420 and the pushing assembly 430 are respectively connected to the first lifting module, the second lifting module and the third lifting module, and any of the lifting modules 440 includes a worm 441, a lifting driver 442, a transmission wheel 443 and a transmission belt 444. The worm 441 extends along the second direction Y, and its two ends are respectively connected to the lifting plate 130 and the transmission wheel 443, and the two ends of the transmission wheel 443 are respectively sleeved on the working ends of the transmission wheel 443 and the lifting driver 442 to drive the worm 441 to rotate around its axis. As a result, the lifting module 440 can achieve precise control of the actual lifting distance by converting the rotational drive into a linear drive, while reducing the instability during the movement.

[0040] Specifically, the book supporting assembly 410 in this embodiment is connected to the first lifting module, which includes a first horizontal module 411, a second horizontal module 412 and a book supporting board 413. The first horizontal module 411 is arranged on the lifting board 130 and extends along the first direction X. The first lifting module is slidably connected to the first horizontal module 411 and extends along the second direction Y. The second horizontal module 412 moves along the first lifting module and extends along the third direction Z. The book supporting board 413 moves along the second horizontal module 412 to be inserted between two adjacent books. Among them, the first horizontal module 411 is preferably a linear motor and a slide rail. The bottom of the first lifting module is provided with a slider, which can move along the slide rail. The second horizontal module 412 is connected to the first lifting module through the first lifting platform 414. Its structure is configured as a horizontally arranged worm structure. Its specific action process and principle are the same as those of the lifting module 440, which will not be described in detail here. The book supporting board 413 is preferably a wedge-shaped sheet material to facilitate insertion between books. In addition, the slide rail in this embodiment adopts ball screw transmission, which makes it have the advantage of lower cost.

[0041] See also Figure 6 and Figure 7As shown, the book-picking assembly 420 in this embodiment is connected to the second lifting module, which includes two book-picking plates 425. The second lifting module is arranged on the top lifting plate 130 and extends along the second direction Y. The two book-picking plates 425 can be lifted and lowered along the second lifting module through the second lifting platform 426, and can be relatively opened and closed to widen the gap between two adjacent books. Furthermore, the book-picking assembly 420 includes a second rotary driver 421, a second rotary plate 422 and two second drive plates 424. The second rotary driver 421 is connected to the second lifting module and moves along the second lifting module. The middle part of the second rotary plate 422 is connected to the working end of the second rotary driver 421 to rotate around the second rotation center line 1002, and two second sliding protrusions 4221 are respectively provided on both sides thereof. A second slide groove 4241 is provided in the middle part of the second drive plate 424. The second sliding protrusion 4221 slides through the second slide groove 4241, and its end is connected to the book-picking plate 425 to drive the book-picking plate 425 to move relative to each other.

[0042] Similarly, the present embodiment further includes two second connecting plates 423, which are used to improve the connection stability between the second rotating plate 422 and the second driving plate 424, so as to ensure that the second sliding protrusion 4221 can always move along the second sliding groove 4241. Specifically, the middle part of the connecting plate in the present embodiment is connected to the second rotating driver 421, which is arranged crosswise with the second rotating plate 422, and its two ends are respectively rotatably connected to the two second driving plates 424, so that a stable movable connection structure is formed between the second rotating plate 422, the second connecting plate 423 and the second driving plate 424.

[0043] See also Figure 8 As shown, the pushing assembly 430 is connected to the third lifting module, which includes at least one pushing driver 431 and at least one book pushing block 432. The third lifting module is arranged on the lifting plate 130 and extends along the second direction Y. At least one pushing driver 431 is lifted and lowered along the third lifting module through the third lifting platform 433. At least one book pushing block 432 is arranged at the working end of at least one pushing driver 431 and moves along the third direction Z through the pushing driver 431 to push the books on the bookshelf. Further, in this embodiment, three pushing drivers 431 arranged along the first direction X and three pushing blocks corresponding to each of them are provided, so that different numbers of pushing blocks can be driven according to the actual book thickness. The pushing driver 431 is preferably a linear electric cylinder. The electric cylinder is used as the actuator to drive it, which can have the advantages of fast response speed and low noise.

[0044] The specific use process of the book sorting robot vehicle in this embodiment is described below: First, after placing the books to be sorted in the book buffer box 300, the book sorting robot vehicle is moved to the target bookshelf through the position adjustment mechanism 100. Next, the tilted books on the bookshelf are straightened by the book supporting component 410 to facilitate subsequent operations, and then the straightened books are pushed from the middle to both sides by the book shifting component 420 to widen the gap between two adjacent books, and then the books to be sorted can be transferred to the bookshelf through the transfer mechanism 200, and finally the books are pushed by the pushing component 430 to align the books, thus completing a book sorting process.

[0045] Furthermore, in order to improve efficiency, the two auxiliary mechanisms 400 can be used to process the bookshelves on both sides simultaneously, so that the transfer mechanism 200 can drive the books to move alternately between the bookshelves on both sides.

[0046] Furthermore, the book sorting robot vehicle includes a control system, the position adjustment mechanism, the transfer mechanism and the auxiliary mechanism are respectively connected to the control system, and the control system includes an identification module, a drive module and a monitoring module connected to each other. Based on this, the operator can monitor the book sorting process in real time through the control system to improve the quality and controllability of the book sorting.

[0047] In summary, the book sorting robot described in the utility model drives the structure thereon to move at different positions on the bookshelf through the position adjustment mechanism 100, and moves the books in the book cache box 300 to the bookshelf through the transfer mechanism 200, thereby realizing the sorting of books. In addition, the auxiliary mechanism 400 can also cooperate with the transfer mechanism 200 in this process to ensure the quality of book sorting. Compared with the current conventional book storage and sorting technology, the present application has the advantages of flexible use, high sorting efficiency and quality, significant reduction in labor intensity, and a wide range of applications.

[0048] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A book sorting robot, characterized in that: include: A position adjustment mechanism, comprising a vehicle body, a lifting assembly and a lifting plate, wherein the lifting assembly is arranged on the vehicle body and moves synchronously with the vehicle body, and the lifting plate is arranged at a working end of the lifting assembly to move along the height direction thereof through the lifting assembly; A book cache box, the book cache box being arranged on the top lifting plate; The transport mechanism includes a mechanical arm and a book clamping assembly, wherein the mechanical arm is connected to the lifting plate, and the book clamping assembly is arranged at the free end of the mechanical arm, and moves between the book cache box and the bookshelf through the mechanical arm, and includes two book clamping plates that can be relatively opened and closed; At least one auxiliary mechanism is arranged on the lifting plate and is located on one side of the transfer mechanism, and includes a book supporting component, a book shifting component and a pushing component. The book supporting component is connected to the first lifting module, and the book shifting component is connected to the second lifting module and includes two book shifting plates. The two book shifting plates are lifted and lowered along the second lifting module and can be opened and closed relatively. The pushing component is connected to the third lifting module, and includes at least one book pushing block and a pushing driver. The book pushing block is connected to the working end of the pushing driver and moves along the third direction through the pushing driver.

2. The book sorting robot vehicle according to claim 1, characterized in that: The book clamping assembly includes a first rotation driver, a first rotation plate and two first driving plates. The first rotation driver is arranged at the free end of the mechanical arm. The middle part of the first rotation plate is connected to the working end of the first rotation driver so as to rotate around a first rotation center line, and two first sliding protrusions are respectively arranged on both sides thereof. A first sliding groove is arranged in the middle part of the first driving plate. The first sliding protrusion slides through the first sliding groove, and its end is connected to the book clamping board to drive the book clamping board to move relative to each other.

3. The book sorting robot vehicle according to claim 1, characterized in that: The book sorting robot vehicle comprises two auxiliary mechanisms, which are symmetrically arranged on two opposite sides of the transfer mechanism.

4. The book sorting robot vehicle according to claim 1, characterized in that: The auxiliary mechanism includes three lifting modules, the book supporting assembly, the book shifting assembly and the pushing assembly are respectively connected to one of the lifting modules, the lifting modules include a worm, a lifting drive, a transmission wheel and a transmission belt, the worm extends along the second direction, and its two ends are respectively connected to the lifting plate and the transmission wheel, and the two ends of the transmission wheel are respectively mounted on the working ends of the transmission wheel and the lifting drive to drive the worm to rotate around its axis.

5. The book sorting robot vehicle according to claim 1 or 4, characterized in that: The book supporting assembly includes a first horizontal module, a second horizontal module and a book supporting board. The first horizontal module is arranged on the lifting plate and extends along the first direction. The first lifting module is slidably connected to the first horizontal module and extends along the second direction. The second horizontal module moves along the first lifting module and extends along the third direction. The book supporting board moves along the second horizontal module to be inserted between two adjacent books.

6. The book sorting robot vehicle according to claim 1 or 4, characterized in that: The second lifting module is disposed on the lifting plate and extends along a second direction.

7. The book sorting robot vehicle according to claim 6, characterized in that: The book-picking assembly includes a second rotary driver, a second rotary plate and two second drive plates. The second rotary driver is connected to the second lifting module and moves along the second lifting module. The middle part of the second rotary plate is connected to the working end of the second rotary driver to rotate around the second rotation center line, and two second sliding protrusions are respectively provided on both sides thereof. A second slide groove is provided in the middle part of the second drive plate. The second sliding protrusion slides through the second slide groove, and its end is connected to the book-picking board to drive the book-picking board to move relative to each other.

8. The book sorting robot vehicle according to claim 1 or 4, characterized in that: The third lifting module is arranged on the lifting plate and extends along the second direction, and at least one of the pushing drivers is lifted and lowered along the third lifting module.

9. The book sorting robot vehicle according to claim 1, characterized in that: The lifting assembly includes a connecting rod driver, a transmission rod and a connecting rod group. The connecting rod driver is arranged on the vehicle body, and its working end is connected to the middle part of the transmission rod. One end of the connecting rod group is rotatably connected to the two ends of the transmission rod, and the other end is rotatably connected to the lifting plate.

10. The book sorting robot vehicle according to claim 1, characterized in that: The book sorting robot vehicle comprises a control system. The position adjustment mechanism, the transfer mechanism and the auxiliary mechanism are respectively connected to the control system. The control system comprises an identification module, a driving module and a monitoring module which are connected to each other.

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