I mean if someone pirated some books and print them and then sold them to us (without informing us that these books were pirated printed books), is there any lawsuit threatening us?
Your title and your question are totally different.
If someone pirates a book, makes printed copies, and sells them for profit, that's the point where it switches from plain copyright infringement to being criminal copyright infringement. Which means jail instead of paying damages is possible.
If you buy one of these printed copies, not knowing that they have been created illegally, and not being willfully ignorant that the printed copies were created illegal, then you didn't commit copyright infringement yourself. Since you are asking the question, it's obvious that you now know that there was copyright infringement, and buying any more copies would be encouraging copyright infringement with no excuses for you.
You can be sued for damages. It is unlikely to happen since suing takes likely more effort than getting any damages from you is worth. The correct thing to do is ask the seller for your money back and destroy the copies. If they don't refund your money you can inform the copyright holder.