CN110250764B

CN110250764B - Automatic change and deposit book case

Info

Publication number: CN110250764B
Application number: CN201910576062.XA
Authority: CN
Inventors: 郑甲红; 武鹏; 李鹏涛; 赵佳龙; 霍启新; 李林; 王婧; 王超
Original assignee: Shaanxi University of Science and Technology
Current assignee: Shaanxi University of Science and Technology
Priority date: 2019-06-28
Filing date: 2019-06-28
Publication date: 2021-03-02
Anticipated expiration: 2039-06-28
Also published as: CN110250764A

Abstract

The invention relates to an automatic bookcase. The bookshelf consists of three parts, namely a bookshelf, a transfer device and a book placing device. The three parts form an integral bookcase, books to be returned are placed in a book returning place, and then the books are automatically conveyed to the original position on the bookcase through a transfer device (by utilizing three-coordinate displacement). And a clamping device capable of automatically adjusting according to the thickness of the book is provided. The operation is simple, the automation degree is high, the accuracy is high, and the application range is wide. Therefore, the efficiency of book returning and the accuracy of the positions of the books in the whole library can be improved, and the labor cost is reduced to a certain extent.

Description

Automatic change and deposit book case

Technical Field

The invention relates to a bookcase, in particular to an automatic storage bookcase.

Background

Books are the main tools for recording all activity tracks and experiences of human beings, play a very important role in the development of civilization, and from ancient times to the present, people tend and crave about books, namely knowledge, and tend to satisfy curiosity.

However, as mankind continues to advance, the number of books has increased explosively, and especially after several civilized innovations, the number of books has become immeasurable. The establishment of a library is also a necessary result, but books are stored in the library in a large number, and management is an unavoidable problem. For more convenient and accurate management of books, a great number of people have begun to invent many book management systems, which mainly comprise four subsystems: recording subsystem, inquiry subsystem, borrowing and returning subsystem and management subsystem. The system undoubtedly reduces the labor intensity of managers and the management quality of the whole library, but many processes are manually completed in the whole management link, which not only wastes a large amount of manpower and material resources, but also is not beneficial to the development of the book management system towards the direction of mechanical automation and intelligence.

Disclosure of Invention

In order to solve the problem of low automation degree, the invention provides an automatic bookcase, which is simple to operate, high in accuracy and capable of saving labor cost to a great extent.

The technical scheme for solving the problems is as follows:

1. the book placing mechanism comprises: rollers are laid on the runners to reduce friction and springs are extended at the ends to relieve impact.

2. A clamping mechanism: the second cylinder and the pressure sensor work together to press the books, and the pressure sensor can automatically feed back to the system and stop the cylinder when the clamping plate connected with the cylinder touches the books, so that the thickness of the books can be automatically adjusted, and the books can be accurately and reliably clamped. The third cylinder is used for pushing the books into the bookcase. The roller can reduce the friction generated when the mechanism moves on the boss.

3. A connecting mechanism: is a mechanism for connecting the clamping mechanism and the transmission mechanism. The connecting mechanism and the clamping mechanism are connected through a hinge, so that the clamping mechanism can be turned over by 90 degrees. The connecting rod groove connected with the connecting mechanism is designed through motion simulation, so that the whole mechanism can rotate 90 degrees, and books can be smoothly put into the bookshelf in parallel with the entrance of the bookshelf. The spring is used for adjusting the upper cover and the lower cover of the conveying shell, the lower cover can descend under the action of gravity after being loaded with books to reduce impact, the clamping device is lifted through the boss in the return stroke, meanwhile, the lower cover of the conveying shell is pushed upwards, and then the spring is restored to the original shape. And the thickness of the book has no influence.

4. A conveying mechanism: in order to make the clamping mechanism connected with the clamping mechanism move freely in the whole conveying space, a three-coordinate moving mode is adopted. The X axis is moved by a linear motor on a slide directly connected to the link. The Y-axis is moved by servo motors mounted on both sides of the connecting rod through engagement of the gear and the rack. The Z-axis is moved by an elevator mounted on the underside of the rack.

5. Automatic switch mechanism: the book placing mechanism is located on the back of the bookshelf, the lower end of each book placing position is provided with a protruding button, the protruding buttons are pressed down through the bottom end of the clamping mechanism, and therefore the placing switch on the back of the bookshelf is opened through the action of the connecting rod, and books can be smoothly placed into the bookshelf. The spring can ensure that the switch is automatically closed after the book is placed, the sealing performance of the conveying space is ensured, and the interference caused by pushing the book into the conveying space from the bookshelf by human error is avoided.

6. The book placing mechanism comprises: rollers are laid on the runners to reduce friction and springs are extended at the ends to relieve impact.

7. The control system comprises: the position of each book in the bookshelf is calibrated, and the position of the book is confirmed by scanning bar codes on the upper side of the book placing inlet. Then the linear motor, the servo motor and the lifting platform are controlled to carry out transmission.

Compared with the prior art, the invention has the following beneficial technical effects:

the automatic control system is high in automation degree, simple to operate and high in accuracy, improves efficiency, is not very complex in control requirement, greatly reduces design difficulty of a control process, and greatly saves labor cost. And lay the foundation for the intelligent management of the whole library tube.

Drawings

FIG. 1 is an overall assembly view of the present invention;

FIG. 2 is an enlarged view of a portion of the present invention;

FIG. 3 is a block diagram of the book placing apparatus of the present invention;

FIG. 4 is a front view of the coupling mechanism clamping mechanism of the present invention;

FIG. 5 is a side view of the attachment clamping mechanism of the present invention;

FIG. 6 is a diagram of the relative motion between the connecting mechanism and the conveying mechanism of the present invention;

FIG. 7 is a schematic view of the grooves of the attachment mechanism of the present invention;

FIG. 8 is a diagram of the automatic opening and closing apparatus of the present invention;

FIG. 9 is a gravity flip view of the present invention;

FIG. 10 is a rotated view of the present invention;

FIG. 11 is a schematic representation of the deposit book of the present invention;

FIG. 12 is a schematic side view of a deposit book of the present invention;

FIG. 13 is an overall view of the present invention;

FIG. 14 is a front view of the bookshelf of the present invention;

figure 15 is an overall assembly view of the main structure of the invention.

Wherein: 1-slideway, 2-first cylinder, 3-support rod, 4-lifting platform (2 are symmetrical), 5-roller, 6-servo motor (2 are symmetrical), 7-rack (2 are symmetrical), 8-guide rail, 9-connecting rod, 10-linear motor, 11-upper cover of conveying shell, 12-lower cover of conveying shell, 13-clamping device, 14-boss, 15-baffle, 16-switch door, 17-button, 18-buffer device, 19-scanning device, 20-second cylinder, 21-third cylinder, 22-pressure sensor, 23-hinge, 24-pulley, 25-spring, 26-sheet metal, 27-connecting rod (2 are symmetrical), 28-feedback spring, 29-book return position, 30-chute.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings:

first embodiment

In the scheme of the traditional book management machine, besides the technical concept of the book management robot, another common concept is to reform the book management bookcase. However, the conventional bookcase is mostly modified by adopting a stacking device arranged on the front side or an internal finishing device, which may limit the display area of the functional area of the bookcase or cause the display area of the bookcase to be unattractive.

The utility model aims to provide a novel book case that the accuracy is high, easy to manage, conveniently get and put. Therefore, the structure of the traditional bookcase is changed, and the switch door (16) is arranged on the back of the bookcase, so that the function areas for arranging and placing books and the display areas for borrowing the books are separated through the back plate of the bookcase, and the integral attractiveness of the bookcase is maintained. Therefore, the taking and placing device in the traditional book management device is arranged on the back of the bookcase to operate, and the taking and placing device is located outside the display area of the bookcase, so that the display function of the front of the bookcase is fully utilized.

The opening and closing door (16) refers to a baffle which can allow the book to pass through the door when the book needs to be returned to the bookshelf and is closed at the rest time. The baffle can adopt various one-way doors, such as a one-way spring door and the like; electronic doors and the like which are easy to manually control to open and close can also be adopted, such as electric sliding doors and the like. Referring to fig. 8, in this embodiment, the opening and closing door (16) adopts a structure of opening and closing triggering, and each opening and closing door (16) is provided with two door plates which are hinged on the bookcase in a manner of opening the two doors. The bottom of the switch door (16) is provided with a trigger switch which is used for controlling the opening and closing of the switch door. The trigger switch comprises a button (17), a feedback spring (28), a connecting rod (27) and a metal plate (26). The button (17) is arranged on a base of the trigger switch through a feedback spring (28), so that the button (17) is bounced in a natural state and can be pressed down only after being stressed. Connecting rod (27) form the revolute pair through panel beating (26) and switch base, and connecting rod (27) both ends form the sliding pair with button (17), door plant respectively for button (17) press back connecting rod (27) drive the door plant open, connecting rod (27) drive the door plant closure when button (17) bounce. In the embodiment, the opening and closing door (16) adopts a side-by-side door structure, and the door plates are respectively provided with two, so that the corresponding connecting rods (27) and the corresponding metal plates (26) are respectively provided with two.

In order to facilitate filing and arranging, the bookcase of the patent adopts a case frame provided with book placing positions, namely, each book monopolizes a space, and a limiting device is arranged between adjacent books. On the basis, each switch door (16) corresponds to one space and also corresponds to one exclusive trigger switch, so that the bookcase is easier to store and manage.

Second embodiment

After the bookcase adopts the technical scheme of the first embodiment, the display area positioned on the front side of the bookcase is liberated, the function area for returning books is changed into the back of the bookcase, and how to fully utilize the back area becomes one of the problems to be solved by the patent idea.

In the first embodiment, it has been mentioned that the present patent places the book taking and placing device in the non-display area of the bookcase so as to better utilize the display area of the bookcase, and the taking and placing device of the present patent is further described below.

Referring to fig. 13 and 14, in order to make the entire bookcase beautiful, the patent technology adopts a closed design, and a closed cabin body is arranged in a non-display area of the bookcase so that the taking and placing device can operate in the closed cabin body. The closed cabin body is provided with at least one book returning position (29), books can be returned by putting the books into the book returning position (29), and the books are returned by the taking and placing device.

After the books are put in from the book returning place (29), the scanning device (19) identifies the book information, and the taking and placing device can determine the coordinates of the books according to the identity information of the books and carry out taking and placing operation. However, for the human body, the convenient book return (29) should be set at a position suitable for arm operation, and for the apparatus weight, it is desirable to move the center of gravity of the entire apparatus as far as possible so that the entire apparatus is more stable. Therefore, the book return (29) is preferably arranged at a higher position, and the pick-and-place device is arranged at a lower position when the pick-and-place device is in standby. In order to facilitate the picking and placing device to pick up books, the patent designs a guide slide way (1), the guide slide way (1) is used for naturally guiding the books from a higher book returning place (29) to a lower area to be picked and placed, and correspondingly, the picking and placing device stands by in the area to be picked and placed, so that the books are guided.

Further, a buffer device (18) and a first air cylinder (2) can be arranged in the area to be taken and placed. The buffer device (18) is used for buffering books falling into the area to be picked and placed from the slide way, and the first air cylinder (2) is used for pushing the books in the area to be picked and placed into the clamping part of the picking and placing device.

Referring to fig. 3, for the convenience of management, a scanning device (19) is provided at the book return location (29) or the chute (1), and the scanning device may be a vision device (such as a camera for visually recognizing books), an RFID scanning device (for recognizing book tags), or the like, and is aimed at counting book placement, recognizing book information, or the like.

Third embodiment

The pick-and-place device of the present patent will be described in detail below. Generally, a mechanical arm and the like commonly used in the field can realize the taking and placing of the books. In fact, as the positions of the area to be taken and placed and the position of the door (16) to be opened and closed are fixed, the taking and placing device adopted by the technology can be properly simplified, namely, the posture of the device is adjusted only by meeting two directions of the area to be taken and placed and the door (16) to be opened and closed. This embodiment describes a simplified scheme of the pick-and-place device.

In this embodiment, the pick-and-place device is divided into an action assembly and a positioning assembly, the action assembly is used for clamping and pushing the clamping part, and the positioning assembly is responsible for moving the xyz position coordinate and adjusting the posture of the action assembly.

The action assembly comprises a clamping part, a door opening and closing triggering part and a pushing part.

Wherein the clamping part clamps the book by generating pressure. The clamping portion is provided with a pressure sensor (22) for detecting whether the book is clamped. The clamping part is provided with a limiting device, and when the clamping part does not apply force to the books, the position of the books in the taking and placing device is limited.

Referring to fig. 2, 4 and 5, the clamping unit (13) includes an upper clamp plate, a lower clamp plate and a third cylinder (21). In this example, the lower clamping plate is of a fixed design, and the end of the lower clamping plate is provided with a limiting device, namely an upward extending end part, which limits the moving area of the book in the clamping plate. The upper clamping plate is connected with a third cylinder (21), and the movement of the upper clamping plate is controlled by a cylinder rod of the third cylinder (21). A pressure sensor (22) is mounted between the upper and lower clamp plates.

The door opening and closing triggering part is used for triggering the door opening and closing (16), in the embodiment, the opening and closing of the door opening and closing (16) depends on whether the button (17) is pressed, so that the taking and placing device needs to be provided with a special part for pressing the button (17). In this case, an extension of the lower jaw is used to press the button (17). At the moment, the limiting device of the clamping part and the door opening and closing triggering part are connected into a whole. Of course, separate schemes may be used as the two have different functions.

The pushing part is used for pushing the book into the book placing opening after the pressure of the clamping part is relieved, and in the figure 4, the pushing part mainly comprises a second air cylinder (20). Referring to fig. 11 and 12, when the pick-and-place device is aligned with the switch door (16) and the switch door is triggered, the clamping portion first releases the book, and the limiting device of the clamping portion lifts the book inside the pick-and-place device. Then, the second cylinder (20) is started to push the book into the switch door (16), and the book placing operation can be finished.

The movement of the xyz coordinate can be realized by a three-axis positioning platform and other technologies. The embodiment provides a simplified scheme, namely, Z-axis movement is realized by a pair of lifting tables (4); the Y-axis movement is realized through a rack (7) parallel to the Y-axis direction and a gear which is driven by a servo motor (6) and is meshed with the rack (7); the X-axis movement is realized by the displacement of a linear motor (10) on a guide rail (8) in the X-axis direction. Specifically, the XYZ three-axis moving device comprises two lifting tables (4) and a guide rail (8), wherein racks (7) parallel to the Y axis are arranged on the lifting tables (4). Two ends of a guide rail (8) parallel to the X axis are respectively meshed with the two racks (7) through gears, and the gears are installed on the guide rail (8) through a servo motor (6). The guide rail (8) is provided with a linear motor (10), and a sliding block on the linear motor (10) can slide along an X axis. In this example, the spatial movement of the motion block in three axes XYZ can be realized by connecting the motion block to a linear motor (10).

In this embodiment, the posture adjustment of the action assembly needs to realize the transformation of two directions, namely the transformation between two postures facing the area to be taken and placed and the door opening and closing (16). Take the case that the area to be taken and placed is horizontally arranged at the rear part of the taking and placing device, and the switch door (16) is vertically arranged at the front part of the taking and placing device. In this example, the book is adjusted from a horizontal position at the back to a vertical position at the front by 90 degrees rotation of the YOZ plane and 90 degrees rotation of the XOY plane. The attitude adjustment device should therefore comprise two revolute pairs, the first revolute pair being responsible for the rotation of the XOY plane, the rotation of which is effected by means of the shutter (15); the second revolute pair is responsible for the rotation of the YOZ plane, which can be achieved by means of gravity. Because both the two revolute pairs need to rotate 90 degrees, the revolute pairs are provided with limiting devices to limit the rotation amplitude of the revolute pairs.

Referring to fig. 6 and 7, fig. 7 is a schematic structural diagram of the first revolute pair, and fig. 6 is a simulation diagram of a motion trajectory corresponding to the first revolute pair. In the figure, the first rotating pair comprises a rotor, a rotating shaft and a cavity provided with a limiting device. Without the limiting means, the rotor is free to rotate in the XOY plane about the axis of rotation within the cavity. After the limiting device is arranged, the rotating angle of the rotor can be limited according to requirements. The limiting means in this embodiment should allow the rotor to rotate exactly 90 degrees.

Referring to fig. 5, fig. 5 is a schematic structural diagram of the second revolute pair. In the figure, a hinge structure is adopted, and the second rotating pair is a hinge (23). After the hinge joint, the surface of the lower cover (12) of the transmission shell can limit the rotation of the second rotating pair. The second revolute pair can be ensured to rotate 90 degrees on the YOZ plane only by keeping the top of the lower cover (12) of the conveying shell horizontal and the side surface of the lower cover (12) of the conveying shell vertical.

Referring to fig. 4 and 9, on the basis that the second revolute pair adjusts the posture based on gravity, how to make the second revolute pair rotate more gently and return the second revolute pair to the horizontal state is one of the problems to be solved by the present embodiment. For this purpose, the embodiment is provided with a boss (14), and the boss (14) is provided with a horizontal plane and a vertical plane, and the horizontal plane and the vertical plane are smoothly transited through a curved surface. When the taking and placing device approaches to the area to be taken and placed through the boss (14), the second rotating pair rotates gradually under the support of the curved surface, so that the taking and placing device is in a horizontal state from a vertical state. On the contrary, when the taking and placing device leaves the area to be taken and placed through the boss (14), the taking and placing device is converted from a horizontal state to a vertical state.

Fourth embodiment

The connection relationship and the operation principle of each part are explained in detail as follows:

referring to fig. 1, it is generally divided into 3 parts: book placing mechanism, conveying mechanism and bookshelf. Referring to fig. 2, the book return part (29) is located at the outermost side of the book placing mechanism, and the book needs to be placed. Then, the sliding way (1) supported by the supporting rod (3) is paved with rollers (5) on the sliding way (1) to reduce the friction force to a certain extent, so that the books can smoothly slide to the designated position. A buffer device (18) is arranged at the appointed position to buffer so as to prevent the book from being damaged. Finally, the second cylinder pushes the book into the clamping device (13) to complete the book placing process.

Referring to fig. 1, in the transfer device, a rail bracket (8) represents an X-axis, a rack (7) represents a Y-axis, and the up-and-down movement of the lift table is performed on a Z-axis.

Referring to fig. 2, after the book is fed into the clamping device (13), the third cylinder (21) starts to work, the plate is pushed to move linearly, after the plate contacts the book, the pressure sensor (22) receives a signal and the third cylinder (21) stops working through the control system, and clamping is completed. Then the clamping device (13) is driven to move by the upper conveying shell cover (11) and the lower conveying shell cover (12). Wherein the upper cover (11) of the conveying shell is connected with the connecting rod (9), and the shapes of grooves and motion tracks between the upper cover (11) of the conveying shell are shown in figures 6 and 7, so that the upper cover (11) of the conveying shell can complete (90) degree rotation on an XOY plane. See fig. 8 and 9. The lower cover (12) of the conveying shell is contacted with the boss (14) through a pulley (24) for carrying out relative movement of the Y axis. The clamping device (13) is connected with the connecting rod (9) through the conveying shell, the connecting rod (9) is fixed with the sliding block on the guide rail (8), and the linear motor (10) is arranged on the sliding block, so that the sliding block can reciprocate (X axis) on the guide rail (8).

Referring to fig. 1, 2 and 9-12 in the transmission process, firstly, the guide rail (8) is fixed with the servo motor (6) through a fixed protective shell, and the servo motor (6) moves on the rack (7) through a gear (Y axis). During the movement of the transport shell along the Y-axis, the transport shell lower cover (12) will start to sink by gravity (with the action of the spring (25) counteracting a part of the impact) because the boss (14) is a curved plane, and in the case of a gradual opening of the transport shell, the gripping means (13) will turn over at the hinge (25) due to the action of gravity. Then, the conveying shell continuously moves along the Y-axis direction, passes through the baffle (15), the baffle (15) is fixed, the conveying shell rotates (XOY plane) by 90 degrees under the action of the baffle (15) through the relative motion track groove of the front connecting rod (9) and the upper cover (11) of the conveying shell, and at this time, the conveying shell is parallel to the switch door (16) relatively, and the butt joint of a conveying opening is completed. Then, according to the requirement, the linear motor (10) moves on the guide rail (8) through the slide block in an X-axis mode, the servo motor (6) moves on the rack (7) in a Y-axis mode through a gear, and the rack (7) moves on the Z-axis mode through the lifting platform (4) connected below the rack so as to move to the specified position.

Referring to fig. 11 and 12, after the clamping device (13) reaches a designated position, the lower edge of the clamping device touches the button (17), and the button (17) drives the connecting rod (27) fixed on the sheet metal (26) to perform an opening motion in the advancing process, so that the switch door (16) is driven to open. Then the third cylinder (21) is tightened to be loosened, then the book is pushed into the bookshelf through the third cylinder (21) on the clamping device (13), then the book is retracted, the button (17) is popped out under the action of a feedback spring (28), and then the connecting rod (27) is driven to perform closing movement, so that the switch door (16) is driven to be closed, and unnecessary accidents caused by the fact that the conveying device is exposed outside are avoided.

And finally, the lifter (4) retracts along the Z-axis direction, and the servo motor (6) retracts along the Y-axis direction to ensure that the position of the baffle (15) cannot be exceeded. Then, the linear motor (10) is used for driving the whole body to carry out X-axis displacement, the process must pass through the baffle (15), the conveying shell rotates (XOY plane) by 90 degrees under the action of the baffle (15) through the relative motion track groove of the front connecting rod (9) and the upper cover (11) of the conveying shell, and then the conveying shell returns to the original position through the boss (14) to wait for the next book storage process.

The control process is explained in detail below

1. When the scanning device (19) scans the book, the whole system starts to work, and the position of the bookshelf of the book is identified.

2. The book slides to a corresponding position through the slide way (1), and the first air cylinder pushes the book into the clamping device (13).

3. The third cylinder (21) starts to push the slide plate, and after the pressure sensor (22) on the third cylinder touches the book, a signal is sent to the control system, and the third cylinder (21) stops working.

4. The servomotor (6) starts to operate until the transport shell leaves the boss (14) and passes the stop (15).

5. The linear motor (10) and the lifting platform (4) move according to the target position of the book.

6. And finishing the storage of the books.

7. And (4) starting to retreat, wherein the lifting platform (4) firstly starts to work and retreats to the initial position.

8. The servo motor (6) retreats to be positioned in the same plane (XOZ plane) with the baffle.

9. The linear motor (10) retracts to the initial position and passes the barrier (15).

10. The servo motor (6) retracts to the initial position.

11. And (6) ending.

Claims

1. The utility model provides an automatic change and deposit book case, is including getting the device of putting, should get the device of putting and be used for picking up and put the books into assigned position, its characterized in that still includes:

the book returning part is internally provided with a slide way, and the terminal point of the slide way is provided with a region to be taken and placed; when the books are put in from the book returning position, the books fall into the slide way and smoothly slide to the area to be picked and placed so that the picking and placing device can pick the books in the area to be picked and placed; the slideway is provided with a scanning device for acquiring book information; the area to be picked and placed is provided with a buffer device and a first air cylinder, and when the picking and placing device stays in the area to be picked and placed, the first air cylinder can push the books in the area to be picked and placed into the picking and placing device;

the book storage position is provided with a book taking opening and a book placing opening; the book placing opening is provided with a switch door, and the switch door is opened when books are placed and closed after the books are placed so as to prevent the books from falling out of the book placing opening;

the taking and placing device comprises an action assembly and a positioning assembly; the positioning assembly is used for conveying the action assembly to a specified position and comprises an XYZ three-axis moving device and an attitude adjusting device; the XYZ three-axis moving device comprises two lifting tables and a guide rail, wherein racks parallel to the Y axis are arranged on the lifting tables; the guide rail is parallel to the X axis, and two ends of the guide rail are respectively meshed with racks parallel to the Y axis on the lifting platform through gears; the gear is arranged on the guide rail through the servo motor, and when the servo motor drives the gear to rotate, the gear drives the guide rail to move on the rack along the Y axis; the guide rail is provided with a linear motor, and a sliding block on the linear motor slides along an X axis under the driving of the linear motor;

the posture adjusting device comprises a connecting rod, a conveying shell upper cover, a conveying shell lower cover, a boss, a baffle and a hinge; the lower cover of the conveying shell is connected with the clamping part of the action assembly through a hinge, so that the clamping part can rotate 90 degrees on a YOZ plane; the boss is provided with a horizontal plane and a vertical plane, and the horizontal plane and the vertical plane are in smooth transition through a curved surface; when the clamping part is positioned on the boss, the horizontal plane offsets gravity to enable the clamping part to be in a horizontal state; when the clamping part leaves from the boss through the curved surface, the lower cover of the conveying shell sinks under the action of gravity, so that the distance between the lower cover of the conveying shell and the upper cover of the conveying shell is gradually increased, and the clamping part is overturned by 90 degrees of a YOZ plane at the hinge under the action of gravity, so that the clamping part is in a vertical state;

the connecting rod is connected with the upper cover of the conveying shell through a first revolute pair, so that the upper cover of the conveying shell can rotate 90 degrees on an XOY plane; the baffle is used for adjusting the posture of the upper cover of the conveying shell on an XOY plane; when the upper cover of the conveying shell moves along the Y-axis direction and passes through the baffle, the upper cover of the conveying shell rotates by 90 degrees on an XOY plane under the blocking of the baffle, so that the upper cover of the conveying shell is parallel to the switch door;

the action assembly of the taking and placing device comprises a clamping part, a door opening and closing triggering part and a pushing part; the clamping part clamps the book by generating pressure; the clamping part is provided with a pressure sensor for detecting whether the book is clamped or not; the clamping part is provided with a limiting device, and when the clamping part does not apply force to the book, the limiting device is used for limiting the position of the book in the taking and placing device;

when the taking and placing device stays in the area to be taken and placed, the clamping part of the taking and placing device is in a horizontal state; when the taking and placing device triggers the switch door, the clamping part of the taking and placing device is in a vertical state; when the clamping part moves to the outside of the book placing opening, the door opening and closing triggering part triggers the opening and closing door to open; when the pressure of the clamping part is relieved, the pushing part pushes the book into the book placing opening.

2. The automated bookcase of claim 1, wherein the book-fetching opening is disposed in a display area of the bookcase, and the book-placing opening and the pick-and-place device are disposed in a non-display area of the bookcase.

3. An automated bookcase according to claim 1, wherein the slide and the pick-and-place device are mounted in a closed cabinet, the cabinet is provided with a book return location, and the books fall into the slide after being placed in the book return location.