CN116214578A

CN116214578A - Library book batch carrying robot

Info

Publication number: CN116214578A
Application number: CN202310504440.XA
Authority: CN
Inventors: 赵金刚
Original assignee: Yuedu Tianxia Beijing International Education Technology Co ltd
Current assignee: Yuedu Tianxia Beijing International Education Technology Co ltd
Priority date: 2023-05-08
Filing date: 2023-05-08
Publication date: 2023-06-06

Abstract

The invention provides a library book batch transfer robot, and relates to the technical field of library book transfer equipment. The library book batch carrying robot comprises a mechanical arm structure, wherein a control structure is connected with the middle part of the upper end of the mechanical arm structure in a transmission way, a balance structure is arranged in the middle of the lower end of the control structure, and an adjusting structure is fixedly connected with the middle part of the upper end of the mechanical arm structure; the control structure comprises a tension sensor, a tension controller, an electromagnetic valve, a first cable, a fixed seat and a second rotating rod, wherein the first cable is fixedly connected to the middle part of the right end of the tension sensor. Through adopting self-adaptation tension control system and dynamics balancing unit, guaranteed the stability of books in the high-speed motion in-process, avoided the damage to books simultaneously to through adjusting the structure when using, simplified the operation flow, reduced the operation degree of difficulty, the library staff of being convenient for goes up the hand fast.

Description

Library book batch carrying robot

Technical Field

The invention relates to the technical field of library book carrying equipment, in particular to a library book batch carrying robot.

Background

With the continuous expansion of library resources, library staff is under increasing pressure to carry, arrange and put books on shelves.

The existing carrying modes mainly comprise manual carrying and manual use of the handcart, and the modes have great limitations on efficiency and accuracy, such as great labor consumption, book damage easiness and the like.

Although similar book transfer robot solutions exist in the existing market, the problems of insufficient stability, book damage easily caused by grabbing process, poor adaptability and the like exist in the transfer process, so that the use effect is not satisfactory.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a library book batch carrying robot, which solves the problems that the existing carrying mode mainly comprises manual carrying and using of a trolley, and when the library still uses a large amount of manpower for carrying books, books are easy to damage and carrying efficiency is low.

In order to achieve the above purpose, the invention is realized by the following technical scheme: the library book batch carrying robot comprises a mechanical arm structure, wherein a control structure is connected with the middle part of the upper end of the mechanical arm structure in a transmission way, a balance structure is arranged in the middle of the lower end of the control structure, and an adjusting structure is fixedly connected with the middle part of the upper end of the mechanical arm structure;

the control structure comprises a tension sensor, a tension controller, an electromagnetic valve, a first cable, a fixed seat and a second rotating rod, wherein the first cable is fixedly connected to the middle of the right end of the tension sensor, the middle output port of the right end of the cable is fixedly connected to the input port of the electromagnetic valve, the fixed seat is fixedly connected to the middle of the lower end of the electromagnetic valve, the tension controller is fixedly connected to the middle of the lower end of the fixed seat, and the second rotating rod is arranged in the middle of the lower end of the tension controller.

Preferably, the mechanical arm structure comprises a stepping motor, a speed reducer, an output shaft, a first connecting rod, a front arm, a rear arm, a first fixed plate, a first fixed column, a motor, a control rod, a first fixed block, a second connecting rod, a rotating disc, a second fixed block, a clamping box, a first rotating rod and a second fixed column, wherein the middle part of the right end of the stepping motor is fixedly connected with the second fixed column, the middle part of the right end of the second fixed column is fixedly connected with the first rotating rod, the middle part of the right end of the first rotating rod is provided with the speed reducer, the middle part of the upper end of the first rotating rod is provided with the output shaft, the upper end of the output shaft is provided with the rotating disc which is opposite left and right, the periphery of the rotating disc is fixedly connected with the first fixed block which is opposite left and right, the middle part of the first fixed block is fixedly connected with the first connecting rod, the rear arm is arranged between the first connecting rod and the second connecting rod, the middle part of the left end of the rear arm is fixedly connected with the motor, the periphery of the front arm is fixedly connected with the first motor, the periphery of the control rod is fixedly connected with the control rod, the control rod is peripherally arranged on the outer periphery of the second rotating rod, the lower end of the first fixed block is fixedly connected with the second fixed column, and the middle part is fixedly connected with the middle part of the lower end of the first rotating rod.

Preferably, the balance structure comprises a spring, a sliding block, a transmission device, a hose and a gripper, wherein the periphery of the gripper is provided with the opposite spring, the transmission device is fixedly connected with the middle part of the right end of the gripper, the sliding block is arranged in the middle of the upper end of the spring, and the hose is fixedly connected with the middle part of the upper end of the transmission device.

Preferably, the adjusting structure comprises a controller, a power supply, a second cable and a protection plate, wherein the controller is fixedly connected with the middle part of the upper end of the power supply, the second cable is fixedly connected with the middle part of the left end of the controller, and the protection plate is fixedly connected with the middle part of the lower end of the power supply.

Preferably, the outer periphery of the rotating rod is fixedly connected with a left fixed column and a right fixed column which are opposite, the middle of the lower end of the fixed column is fixedly connected with a fixing seat, the middle of the lower end of the fixing seat is fixedly connected with a fixing plate II, and the middle of the lower end of the fixing plate II is fixedly connected with a supporting column.

Preferably, the fixing base periphery is provided with the left and right sides and the front and back relative fixed block III, the fixed block III is located the support column top, support column periphery fixedly connected with supporting shoe, supporting shoe lower extreme middle part fixedly connected with locating plate, locating plate upper end middle part is provided with the fixed block III.

Preferably, the middle part fixedly connected with output shaft in two upper ends of dwang, output shaft upper end middle part fixedly connected with frame, frame upper end middle part fixedly connected with fixed column two, fixed column two upper end right sides are provided with the power, the power left end is provided with the trailing arm.

Preferably, the periphery of the control rod is provided with left and right opposite forearms, the middle part of the inner side wall of the forearms is provided with a front and rear measuring pair of sliding blocks, the middle part of the right end of the sliding block is provided with a transmission device, the middle part of the upper end of the transmission device is provided with a first cable, and the middle part of the right end of the first cable is provided with a second fixed block

Preferably, a rotating disc is arranged in the middle of the right end of the second fixed block, a power supply is fixedly connected between the two rotating discs, the power supply is located above the second fixed plate, and the second fixed plate is located above the positioning plate.

Preferably, a fixed seat is arranged in the middle of the lower end of the stepping motor, a frame is arranged in the middle of the upper end of the fixed seat, a tension controller is fixedly connected to the middle of the front side of the frame, and an electromagnetic valve is arranged in the middle of the upper end of the tension controller.

A using method of a library book batch transfer robot comprises the following steps: the robot starts to run, the controller enters a working state, then the robot arm is started and simultaneously automatically detects the states of all the parts in a rotating way, after the detection is finished, the stepping motor is started, the front arm and the rear arm can be returned to the initial positions, the clamping box is closed, and the robot arm is in a standby state; when the mechanical arm is started, the mechanical arm is controlled to move through the stepping motor, the mechanical arm moves from an initial position to a working position, the stepping motor is gradually accelerated, when the mechanical arm approaches to a target position, the stepping motor is gradually decelerated until the mechanical arm stops, the controller checks the input target position, and the movement track of the mechanical arm is calculated; when books are grabbed, the mechanical arm starts to grab the books after moving to the target position, the tension sensor starts to monitor the tension condition of the mechanical arm and feeds back the tension condition to the tension controller in real time, the tension controller adjusts hydraulic flow to the mechanical arm through controlling the electromagnetic valve, the opening and closing force of the mechanical arm is controlled, meanwhile, the mechanical arm is gradually opened from a closed state through self-adapting grabbing force, when the mechanical arm successfully grabs the books, the mechanical arm is gradually closed, and when the mechanical arm grabs the books, the mechanical arm starts to move and conveys the books to the target position; then when the mechanical arm is used for placing books, after the mechanical arm moves to a target position, the grabbing hand starts to be used for placing books, the transmission device starts to play a role, the grabbing force of the mechanical arm is adjusted in a mode of combining the spring and the sliding block, the controller is used for checking that the mechanical arm returns to the initial position, and the mechanical arm is controlled to return to the initial position through the stepping motor.

The invention provides a library book batch transfer robot. The beneficial effects are as follows:

1. the invention reduces the workload of library staff by improving the carrying stability and efficiency, adopts the control structure and the balance structure at this time, ensures the stability of books in the high-speed movement process, and simultaneously avoids the damage to the books.

2. The self-adaptive tension control system and the force balancing device are adopted, so that the stability of the book in the high-speed movement process is ensured, meanwhile, the damage to the book is avoided, in addition, the operation flow is simplified through adjusting the structure when the self-adaptive tension control system is used, the operation difficulty is reduced, and the quick lifting of library staff is facilitated.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a schematic view of a robot arm structure according to the present invention;

FIG. 3 is a schematic top view of a second embodiment of the fixing plate;

FIG. 4 is a schematic diagram of two side views of the fixing plate of the present invention;

FIG. 5 is a schematic view of a bottom view of the connecting rod according to the present invention;

FIG. 6 is a schematic top view of the controller according to the present invention;

FIG. 7 is a schematic diagram of a two-side view structure of a rotary lever according to the present invention;

FIG. 8 is an enlarged schematic view of FIG. 5A;

fig. 9 is an enlarged schematic view at B in fig. 2.

1, a mechanical arm structure; 101. a stepping motor; 102. a speed reducer; 103. an output shaft; 104. a first connecting rod; 105. a forearm; 106. a rear arm; 107. a first fixing plate; 108. fixing the first column; 109. a motor; 110. a control lever; 111. a first fixed block; 112. a second connecting rod; 113. a rotating disc; 114. a second fixed block; 115. a clamping box; 116. rotating the first rod; 117. fixing the second column; 2. a control structure; 201. a tension sensor; 202. a tension controller; 203. an electromagnetic valve; 204. a first cable; 205. a fixing seat; 206. a second rotating rod; 3. a balance structure; 301. a spring; 302. a slide block; 303. a transmission device; 304. a hose; 305. a grip; 4. an adjustment structure; 401. a controller; 402. a power supply; 403. a second cable; 404. a protection plate; 5. a positioning plate; 6. a fixed block III; 7. a support block; 8. a support column; 9. a second fixing plate; 10. a frame.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Examples

Referring to fig. 1-9, an embodiment of the invention provides a library book batch carrying robot, which comprises a mechanical arm structure 1, wherein a control structure 2 is in transmission connection with the middle part of the upper end of the mechanical arm structure 1, a balance structure 3 is arranged in the middle part of the lower end of the control structure 2, and an adjusting structure 4 is fixedly connected with the middle part of the upper end of the mechanical arm structure 1;

the control structure 2 comprises a tension sensor 201, a tension controller 202, an electromagnetic valve 203, a first cable 204, a fixed seat 205 and a second rotating rod 206, wherein the first cable 204 is fixedly connected to the middle part of the right end of the tension sensor 201, the middle output port of the right end of the first cable 204 is fixedly connected to the input port of the electromagnetic valve 203, the fixed seat 205 is fixedly connected to the middle part of the lower end of the electromagnetic valve 203, the tension controller 202 is fixedly connected to the middle part of the lower end of the fixed seat 205, the second rotating rod 206 is arranged at the middle part of the lower end of the tension controller 202, and the second rotating rod 206 can rotate and can drive the front arm 105 and the rear arm 106 to rotate.

The mechanical arm structure 1 comprises a stepping motor 101, a speed reducer 102, an output shaft 103, a first connecting rod 104, a front arm 105, a rear arm 106, a first fixed plate 107, a first fixed column 108, a motor 109, a control rod 110, a first fixed block 111, a second connecting rod 112, a rotating plate 113, a second fixed block 114, a clamping box 115, a first rotating rod 116 and a second fixed column 117, wherein the middle part of the right end of the stepping motor 101 is fixedly connected with the second fixed column 117, the middle part of the right end of the second fixed column 117 is fixedly connected with the first rotating rod 116, the speed reducer 102 is arranged in the middle part of the right end of the first rotating rod 116, the output shaft 103 is arranged in the middle of the upper end of the first rotating rod 116, the left and right opposite rotating plates 113 are arranged at the upper end of the output shaft 103, the periphery of the rotating plate 113 is fixedly connected with the first fixed block 111 which is left and right opposite, the middle part of the left end of the first fixed block 111 is fixedly connected with the first connecting rod 104 and the second connecting rod 112, the middle part of the left end of the first fixed block 104 is fixedly connected with the first fixed column 108, a rear arm 106 is arranged between the first connecting rod 104 and the second connecting rod 112, a motor 109 is fixedly connected to the middle part of the left end of the rear arm 106 and can drive the rear arm to rotate, a front arm 105 is arranged on the periphery of the motor 109, a control rod 110 is fixedly connected to the periphery of the front arm 105, a left fixing column I108 and a right fixing column I108 which are opposite are arranged on the periphery of the control rod 110 and can be fixed, a clamping box 115 is fixedly connected to the middle part of the lower end of the motor 109, a second fixing block 114 is fixedly connected to the middle part of the lower end of the first rotating rod 116, a second fixing column 117 is arranged on the right side of the lower end of the second fixing block 114 and can be fixed, a first fixing plate 107 is fixedly connected to the middle part of the lower end of the motor 109, a 4-axis structure is adopted in the design of the mechanical arm, the front arm 105 and the rear arm 106 are driven to move through a stepping motor 101, the first 3 axes of the mechanical arm structure 1 respectively control the position of the mechanical arm structure 1, the 4-th axis controls the opening and closing of the mechanical arm, the mechanical arm is provided with the tension sensor 201 and the controller 401, so that books with different weights and sizes can be efficiently and stably grabbed and carried.

The balance structure 3 comprises a spring 301, a sliding block 302, a transmission device 303, a hose 304 and a grip 305, wherein the periphery of the grip 305 is provided with the opposite spring 301, the transmission device 303 is fixedly connected to the middle part of the right end of the grip 305, the sliding block 302 is arranged in the middle of the upper end of the spring 301, the hose 304 is fixedly connected to the middle part of the upper end of the transmission device 303, and the grip 305 adopts a clamping jaw type design and can adaptively adjust the stretching force. The tension sensor 201 is installed on the grip 305, and the tension controller 202 can adjust the opening and closing force of the grip 305 to adapt to books with different weights and sizes.

The adjusting structure 4 comprises a controller 401, a power supply 402, a second cable 403 and a protection plate 404, wherein the middle part of the upper end of the power supply 402 is fixedly connected with the controller 401, the middle part of the left end of the controller 401 is fixedly connected with the second cable 403, the middle part of the lower end of the power supply 402 is fixedly connected with the protection plate 404, and the protection performance can be improved.

The second 206 periphery fixedly connected with of dwang is controlled relative fixed column two 117, fixed column two 117 lower extreme middle part fixedly connected with fixing base 205, and fixing base 205 lower extreme middle part fixedly connected with fixed plate two 9 can appear rocking the phenomenon, makes it can better drive robotic arm structure 1 and control the removal, and fixed plate two 9 lower extreme middle part fixedly connected with support column 8.

The fixing base 205 periphery is provided with the back and forth relative fixed block three 6, and fixed block three 6 is located support column 8 top, and support column 8 periphery fixedly connected with supporting

shoe

7, and 7 lower extreme middle part fixedly connected with locating plate 5 of supporting shoe, locating plate 5 upper end middle part are provided with fixed block three 6, can fix, reduce the phenomenon that appears rocking when using, and frame 10 and locating plate 5 adopt the aluminum alloy material simultaneously, have advantages such as high strength, lightweight and corrosion resistance, can install four drive wheels and four universal wheels on the robot chassis, can realize the nimble turning to of robot and smooth traveling.

The middle part of the upper end of the second rotating rod 206 is fixedly connected with an output shaft 103, the middle part of the upper end of the output shaft 103 is fixedly connected with a frame 10, the middle part of the upper end of the frame 10 is fixedly connected with a second fixing column 117, the right side of the upper end of the second fixing column 117 is provided with a power supply 402, and the left end of the power supply 402 is provided with a rear arm 106.

The periphery of the control rod 110 is provided with a left forearm 105 and a right forearm 105 which are opposite, the middle part of the inner side wall of the forearm 105 is provided with a sliding block 302 of a front measuring pair and a rear measuring pair, the middle part of the right end of the sliding block 302 is provided with a transmission device 303, the middle part of the upper end of the transmission device 303 is provided with a first cable 204, and the middle part of the right end of the first cable 204 is provided with a second fixed block 114.

The middle part of the right end of the second fixed block 114 is provided with a rotating disc 113, a power supply 402 is fixedly connected between the two rotating discs 113, the power supply 402 is positioned above the second fixed plate 9, and the second fixed plate 9 is positioned above the positioning plate 5.

The middle part of the lower end of the stepping motor 101 is provided with a fixed seat 205, the middle part of the upper end of the fixed seat 205 is provided with a frame 10, the middle part of the front side of the frame 10 is fixedly connected with a tension controller 202, and the middle part of the upper end of the tension controller 202 is provided with a solenoid valve 203, so that personnel can operate the tension controller conveniently.

Working principle: the operator presses the start button to start the robot, the controller 401 enters a working state, then the robot arm starts and simultaneously rotates to automatically detect the states of all parts to ensure that all parts of the robot arm normally operate, after detection, the stepping motor 101 is started to enable the front arm 105 and the rear arm 106 to return to the initial positions, the clamping box 115 is closed, the robot arm is in a standby state, when the robot arm starts, the stepping motor 101 gradually accelerates to move the robot arm from the initial positions to the working positions, then the operator inputs a target position of the movement of the robot arm on the controller 401, the controller 401 checks the input target position after the input position, calculates the movement track of the robot arm 1, and controls the movement of the robot arm 1 through the stepping motor 101, the motion track of the mechanical arm 1 is realized through the operation of a control system in the controller 401, the motion control system can realize the accurate positioning of the mechanical arm 1 by using an encoder, ensure the accuracy and stability of the motion of the mechanical arm 1, the speed of the mechanical arm 1 gradually decreases before the mechanical arm 1 moves to a target position, ensure the motion stability of the mechanical arm 1, then the stepping motor 101 gradually accelerates when the mechanical arm 1 moves from an initial position to the target position, the stepping motor 101 gradually decelerates until the mechanical arm 1 stops when the mechanical arm 1 approaches to the target position, then when books are grabbed, after the mechanical arm 1 moves to the target position, the gripper 305 starts to grab the books, the tension sensor 202 starts to monitor the tension condition of the mechanical arm 1, the tension controller 202 is fed back to the tension controller 202 in real time by controlling the electromagnetic valve 203, the hydraulic flow is regulated by the electromagnetic valve 203, the opening and closing force of the gripper 305 is controlled, the gripping force of the gripper 305 on books is ensured to adapt to the weight and the size of the books, meanwhile, the gripper 305 is self-adaptive to the gripping force, the books with different weights and sizes are efficiently and stably gripped, damage to the books is avoided, then the gripper 305 is gradually opened from a closed state, the tension controller 202 is used for regulating Zhang Geli degrees of the gripper 305 by regulating the hydraulic flow, the gripper 305 is gradually adapted to the weight and the size of the books, when the gripper 305 successfully grips the books, the gripper 305 is gradually closed, after the gripper 305 grips the books, the mechanical arm 1 starts to move, the mechanical arm 1 moves to a target position, the moving speed and the stability of the mechanical arm 1 are improved, the stability and the high efficiency of the carrying process are ensured, and when the mechanical arm 1 moves to the target position, the gripper 305 keeps stable gripping force, the mechanical arm 1 gradually accelerates to carry books to a target position, when the mechanical arm 1 approaches to the target position, the mechanical arm 1 gradually decelerates until the books are placed to the target position, then when the mechanical arm 1 places the books, the mechanical arm 1 moves to the target position at this time, the gripper 305 starts to place the books, the transmission device 303 starts to play a role, the gripping force of the mechanical arm 1 is adjusted by combining the spring 301 and the sliding block 302, the force of the mechanical arm 1 is adapted to the weight and the size of the books, the books are prevented from being damaged or falling, the movement speed of the mechanical arm 1 is gradually slowed down, the books are kept stable in the process of placing the books, the books are prevented from being damaged, after the mechanical arm 1 places the books, the mechanical arm 1 gradually recovers to be ready to return to the initial position, and then after the books are placed, the mechanical arm 1 starts to return to the initial position for the next carrying, the controller 401 checks that the mechanical arm 1 returns to the initial position, and controls the mechanical arm 1 to return to the initial position through the stepping motor 101, when the mechanical arm 1 returns to the initial position, the gripper 305 is closed, the robot stops running, enters a standby state, waits for the next starting, and before stopping running, the system can perform self-checking to ensure that each part of the robot is in a normal state, so that faults or accidents in the carrying process are avoided.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The library book batch carrying robot comprises a mechanical arm structure and is characterized in that a control structure is connected in a transmission manner at the middle part of the upper end of the mechanical arm structure, a balance structure is arranged at the middle part of the lower end of the control structure, and an adjusting structure is fixedly connected at the middle part of the upper end of the mechanical arm structure;

2. The library book batch transfer robot according to claim 1, wherein the mechanical arm structure comprises a stepping motor, a speed reducer, an output shaft, a first connecting rod, a front arm, a rear arm, a first fixing plate, a first fixing column, a motor, a control rod, a first fixing block, a second connecting rod, a rotating disc, a second fixing block, a clamping box, a first rotating rod and a second fixing column, wherein the middle part of the right end of the stepping motor is fixedly connected with the second fixing column, the middle part of the right end of the second fixing column is fixedly connected with the first rotating rod, the middle part of the right end of the first rotating rod is provided with the speed reducer, the middle part of the upper end of the first rotating rod is provided with the output shaft, the upper end of the output shaft is provided with the left and right opposite rotating disc, the periphery of the rotating disc is fixedly connected with the first fixing block, the middle part of the left end of the fixing block is fixedly connected with the first connecting rod and the second connecting rod, the middle part of the left end of the connecting rod is fixedly connected with the first fixing column, the middle part of the rear arm is arranged between the first connecting rod and the second connecting rod, the middle part of the left end of the rear arm is fixedly connected with the motor, the periphery of the motor is fixedly connected with the first rotating rod, the front arm is fixedly connected with the second connecting rod, the middle part of the lower end is fixedly connected with the middle part of the control rod, and the middle part is fixedly connected with the middle part of the lower end of the control rod;

the stepping motor is characterized in that a fixed seat is arranged in the middle of the lower end of the stepping motor, a frame is arranged in the middle of the upper end of the fixed seat, a tension controller is fixedly connected to the middle of the front side of the frame, and an electromagnetic valve is arranged in the middle of the upper end of the tension controller.

3. The library book batch transfer robot of claim 1, wherein the balancing structure comprises springs, sliding blocks, a transmission device, a hose and a gripper, the periphery of the gripper is provided with opposite springs, the middle part of the right end of the gripper is fixedly connected with the transmission device, the middle part of the upper end of the springs is provided with the sliding blocks, and the middle part of the upper end of the transmission device is fixedly connected with the hose.

4. The library book batch transfer robot of claim 1, wherein the adjusting structure comprises a controller, a power supply, a second cable and a protection plate, wherein the controller is fixedly connected to the middle of the upper end of the power supply, the second cable is fixedly connected to the middle of the left end of the controller, and the protection plate is fixedly connected to the middle of the lower end of the power supply.

5. The library book batch transfer robot of claim 1, wherein the outer periphery of the rotating rod is fixedly connected with a left fixed column and a right fixed column, the middle of the lower end of the fixed column is fixedly connected with a fixing seat, the middle of the lower end of the fixing seat is fixedly connected with a fixing plate II, and the middle of the lower end of the fixing plate II is fixedly connected with a supporting column.

6. The library book batch transfer robot of claim 1, wherein the fixing seat periphery is provided with a fixing block III which is arranged on the left side, the right side, the front side and the rear side and is opposite to each other, the fixing block III is arranged above a supporting column, the periphery of the supporting column is fixedly connected with a supporting block, the middle part of the lower end of the supporting block is fixedly connected with a positioning plate, and the middle part of the upper end of the positioning plate is provided with a fixing block III.

7. The library book batch transfer robot of claim 1, wherein the middle part of the upper end of the second rotating rod is fixedly connected with an output shaft, the middle part of the upper end of the output shaft is fixedly connected with a frame, the middle part of the upper end of the frame is fixedly connected with a second fixing column, a power supply is arranged on the right side of the upper end of the second fixing column, and a rear arm is arranged at the left end of the power supply.

8. The library book batch transfer robot of claim 2, wherein the control lever is provided with left and right opposite forearms, the middle part of the inner side wall of the forearms is provided with a slide block of a front and rear measuring pair, the middle part of the right end of the slide block is provided with a transmission device, the middle part of the upper end of the transmission device is provided with a first cable, and the middle part of the right end of the first cable is provided with a second fixed block.

9. The library book batch transfer robot of claim 2, wherein a rotating disc is arranged in the middle of the right end of the second fixed block, a power supply is fixedly connected between the two rotating discs, the power supply is located above the second fixed plate, and the fixed plate is located above the positioning plate.

10. The using method of the library book batch carrying robot is characterized in that the robot starts to run, a controller enters a working state, then a robot arm is started and simultaneously automatically detects the states of all parts in a rotating mode, after detection is finished, a stepping motor is started, the front arm and the rear arm can be returned to initial positions, a clamping box is closed, and the robot arm is in a standby state; when the mechanical arm is started, the mechanical arm is controlled to move through the stepping motor, the mechanical arm moves from an initial position to a working position, the stepping motor is gradually accelerated, when the mechanical arm approaches to a target position, the stepping motor is gradually decelerated until the mechanical arm stops, the controller checks the input target position, and the movement track of the mechanical arm is calculated; when books are grabbed, the mechanical arm starts to grab the books after moving to the target position, the tension sensor starts to monitor the tension condition of the mechanical arm and feeds back the tension condition to the tension controller in real time, the tension controller adjusts hydraulic flow to the mechanical arm through controlling the electromagnetic valve, the opening and closing force of the mechanical arm is controlled, meanwhile, the mechanical arm is gradually opened from a closed state through self-adapting grabbing force, when the mechanical arm successfully grabs the books, the mechanical arm is gradually closed, and when the mechanical arm grabs the books, the mechanical arm starts to move and conveys the books to the target position; then when the mechanical arm is used for placing books, after the mechanical arm moves to a target position, the grabbing hand starts to be used for placing books, the transmission device starts to play a role, the grabbing force of the mechanical arm is adjusted in a mode of combining the spring and the sliding block, the controller is used for checking that the mechanical arm returns to the initial position, and the mechanical arm is controlled to return to the initial position through the stepping motor.