Stacking device for storing benzonitrile product based on industrial vision

Abstract

The application discloses a stacking device for benzene nitrile product storage based on industrial vision, and relates to the technical field of industrial vision, which comprises a tray and a walking trolley, storage barrels for benzene nitrile product storage are uniformly arranged on the tray, a fixing frame is fixed on the walking trolley, a driving mechanism is installed on the fixing frame, the driving mechanism is used for lifting and visually positioning and stacking the storage barrels, and the driving mechanism is connected with a lifting mechanism. The stacking device for benzene nitrile product storage based on industrial vision is characterized in that the driving mechanism drives the visual camera to move synchronously, the height of the visual camera is adapted to the stacking height in real time, accurate visual detection can be realized in the whole process of lifting, transferring and stacking, the fork plate, the limiting block and the tray can be accurately matched, the alignment accuracy of multiple sets of trays and storage barrels during stacking is ensured, the problems of unstable stacking, dumping and the like caused by positioning deviation are effectively avoided, the stacking quality is improved, and the demand for large-scale stacking is met.

Description

Technical Field

[0001] This invention relates to the field of industrial vision technology, specifically to a stacking device for storing benzonitrile products based on industrial vision. Background Technology

[0002] Benzenenitrile products are chemical intermediates, mostly in liquid or crystalline form, and have certain corrosiveness and volatility. They need to be stored in sealed storage containers, and the stability of the containers must be ensured during stacking to avoid tipping, leakage, safety hazards, and product loss. Currently, the stacking of benzonitrile product storage containers in the industrial field mostly relies on manual operation or traditional stacking equipment, which has many technical defects.

[0003] Manual stacking is inefficient and labor-intensive. Operators need to be in direct contact with benzonitrile storage tanks, and long-term operation can lead to exposure to volatile substances from the product, posing safety risks. At the same time, manual positioning has low accuracy, and storage tanks are prone to shifting or tilting during stacking, resulting in unstable stacking or even tipping accidents, causing product leakage and equipment damage.

[0004] Traditional stacking equipment often lacks a precise positioning mechanism, making it impossible to achieve accurate alignment of storage bins and pallets, resulting in significant stacking errors. Furthermore, most equipment lacks dedicated limit and gravity balancing mechanisms, making it easy for storage bins to slide sideways and pallets to detach from the forklift structure during lifting, transfer, and stacking. Additionally, uneven forklift loads can lead to tipping hazards, resulting in poor safety and stability.

[0005] In addition, existing stacking equipment is difficult to adapt to the characteristics of benzonitrile product storage tanks, cannot automatically adjust the balance according to the weight of the storage tanks and pallets, and lacks visual positioning function, making it impossible to achieve precise control of the stacking process and meet the needs of large-scale, high-precision benzonitrile product storage and stacking. Summary of the Invention

[0006] The purpose of this invention is to provide a stacking device for storing benzonitrile products based on industrial vision, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a stacking device for storing benzonitrile products based on industrial vision, comprising a pallet and a traveling trolley. Storage bins for storing benzonitrile products are evenly placed on the pallet. A fixed frame is fixed on the traveling trolley, and a drive mechanism is installed on the fixed frame. The drive mechanism realizes the lifting of the storage bins and the visual positioning stacking function. The drive mechanism is interconnected with a lifting mechanism, which realizes the lifting of the pallet and the limiting function of the storage bins. The drive mechanism is interconnected with a gravity balancing mechanism, which realizes the gravity self-balancing function when the storage bins are lifted.

[0008] Preferably, the driving mechanism includes a motor fixed on a fixed frame, and a threaded rod is fixed to the output end of the motor. The threaded rod is connected to the traveling trolley by a bearing. The threaded rod is threadedly connected to the movable plate, and the movable plate is slidably connected to the vertical rod. The vertical rod is symmetrically fixed between the fixed frame and the traveling trolley. The motor drives the threaded rod to rotate. Combined with the threaded connection between the threaded rod and the movable plate, it can provide a basic force for the movement of the movable plate. Combined with the sliding guide effect between the movable plate and the vertical rod, it can ensure the stability of the movement of the movable plate.

[0009] Preferably, the movable plate is fixed to one end of the first spring, and the other end of the first spring is fixed to the mounting plate. The mounting plate and the vertical rod are slidably connected. The flexible support between the movable plate and the mounting plate by the first spring can ensure that the movable plate can drive the mounting plate to move, and can also provide a basic guarantee for the movement of the movable plate relative to the mounting plate, thereby ensuring the normal operation of the device. Furthermore, the sliding guide effect between the mounting plate and the vertical rod can ensure the stability of the movement of the mounting plate.

[0010] Preferably, the mounting plate is also symmetrically fixed with crossbars at the front and back, and the crossbars are slidably connected to the fixing frame. A vision camera is also fixed on the crossbar. By moving the mounting plate, the crossbars and the vision camera can be moved synchronously, thereby providing a basic guarantee for the position adjustment of the vision camera so that the stacking can proceed normally.

[0011] Preferably, the lifting mechanism includes a connecting frame with one end fixed to the mounting plate, and the other end of the connecting frame fixed to the base plate. Fork plates are symmetrically fixed to the base plate, and the fork plates and the moving plate are slidably connected. A second spring is fixed between the moving plate and the fork plates. When the mounting plate moves, the connecting frame, the base plate, and the fork plates can be moved synchronously, thus providing a basic guarantee for lifting the pallet. Furthermore, through the elastic action of the second spring, the moving plate can move relative to the fork plates under the weight of the pallet, ensuring the normal operation of the device.

[0012] Preferably, a top rod is fixed to the lower end face of the movable plate, and the top rod is slidably connected to the fork plate and to the swing rod. The swing rod is rotatably connected to the fork plate, and a torsion spring is connected between the swing rod and the fork plate. A limit block is also fixed on the swing rod, and the upper end face of the limit block is flush with the upper end face of the fork plate. When the movable plate moves, the sliding guide action between the top rod and the fork plate can ensure the stability of the movable plate's movement. The sliding action between the top rod and the swing rod can provide a basic force for the rotation of the swing rod, thereby providing a basic guarantee for the height adjustment of the limit block, and thus providing a basic guarantee for the positioning of the pallet.

[0013] Preferably, a vertical plate is fixed vertically on the fork plate, and the vertical plate and the toothed plate are slidably connected. The toothed plate is fixed to the top plate, and a third spring is fixed between the top plate and the vertical plate. When the top plate moves relative to the vertical plate, the sliding guide between the vertical plate and the toothed plate can ensure the stability of the top plate's movement. The elasticity of the third spring can provide a basic force for the automatic reset of the top plate.

[0014] Preferably, the toothed plate and the gear are meshed, and one end of the gear and the rotating shaft are fixed to each other. The rotating shaft is bearing-connected to the base plate, and the other end of the rotating shaft is fixed to the stop lever. The rotation angle of the stop lever is 0°-45°. When the toothed plate moves, the rotating shaft and the stop lever can be rotated through the meshing transmission between the toothed plate and the gear, thereby providing a basic guarantee for the limiting of the storage tank.

[0015] Preferably, the gravity balancing mechanism includes a guide rod fixed to the mounting plate, and an adjusting plate is slidably connected to the guide rod. The adjusting plate is rotatably connected to one end of the connecting rod, while the other end of the connecting rod is rotatably connected to the movable plate. When the movable plate moves relative to the mounting plate, the transmission action of the connecting rod can provide a basic force for the movement of the adjusting plate. Combined with the sliding guiding action between the adjusting plate and the guide rod, the stability of the movement of the adjusting plate can be ensured.

[0016] Preferably, the adjusting plate and the round rod are slidably connected, and the round rod is symmetrically fixed to the movable platform. Slider blocks are symmetrically fixed to the lower end of the movable platform, and the sliders are slidably connected to the guide rails. The guide rails are symmetrically fixed to the traveling trolley. A lead screw is also fixed to the movable platform, and a counterweight is fitted onto the lead screw. The counterweight is locked to the lead screw by a locking nut. The sliding action between the adjusting plate and the round rod ensures normal up-and-down movement of the adjusting plate. When the adjusting plate moves laterally, it simultaneously pushes the round rod and the movable platform to move. Combined with the sliding guidance between the slider and the guide rail, the stability of the movable platform's movement is ensured, thereby achieving the adjustment of the counterweight's position and ensuring the stability of the device when lifting the pallet.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. This industrial vision-based stacking device for storing benzonitrile products uses a drive mechanism to move the vision camera synchronously, enabling the vision camera height to adapt to the stacking height in real time. It can achieve precise visual inspection throughout the entire process of forklifting, transfer, and stacking, ensuring accurate coordination between the fork plate, limit block, and pallet. At the same time, it ensures the alignment accuracy when stacking multiple pallets and storage bins, effectively avoiding problems such as unstable stacking and tipping caused by positioning deviation, improving stacking quality, and adapting to large-scale stacking needs. 2. This industrial vision-based stacking device for storing benzonitrile products features a lifting mechanism that achieves dual limiting via mechanical transmission. On one hand, when the forks insert into the pallet, the top plate is subjected to force, which drives the toothed plate, gear, and stop bar to rotate the stop bar 45° to limit the side of the storage bucket, preventing the side of the storage bucket from sliding during stacking. On the other hand, during the lifting process, the moving plate is subjected to force and moves downward, causing the top rod, swing rod, and limiting block to swing, thereby limiting and fixing the pallet and preventing the pallet from detaching from the forks. The dual limiting structure works together to significantly improve the stability of the device operation and reduce the risk of benzonitrile storage buckets tipping over or leaking. 3. This industrial vision-based stacking device for storing benzonitrile products features a gravity balancing mechanism that, through the coordinated action of connecting rods, adjusting plates, movable platforms, and counterweights, automatically adjusts the position of the counterweights according to the weight of the pallets and storage containers. This balances the weight of the counterweights with the load weight, effectively counteracting the off-center load effect of the load weight on the device during forklift operation. This prevents the device from tipping over due to uneven load, effectively extending the service life of the equipment. It can also adapt to the stacking requirements of benzonitrile storage containers of different weights. Attached Figure Description

[0018] Figure 1 This is a frontal three-dimensional structural diagram of the overall composition of the device of the present invention; Figure 2 This is a side-view three-dimensional structural diagram of the walking vehicle of the present invention; Figure 3 This is a frontal three-dimensional structural diagram of the drive mechanism of the present invention; Figure 4 This is a frontal three-dimensional structural diagram of the lifting mechanism of the present invention; Figure 5 This is a three-dimensional structural diagram of the fork plate of the present invention, viewed from the front and in cross-section. Figure 6 This is a frontal three-dimensional structural diagram of the gravity balancing mechanism of the present invention; Figure 7 This is a top-view three-dimensional structural diagram of the gravity balancing mechanism of the present invention.

[0019] In the diagram: 1. Pallet; 2. Storage bin; 3. Trolley; 4. Fixed frame; 5. Drive mechanism; 501. Motor; 502. Threaded rod; 503. Movable plate; 504. Vertical rod; 505. First spring; 506. Mounting plate; 507. Horizontal rod; 508. Vision camera; 6. Lifting mechanism; 601. Connecting frame; 602. Base plate; 603. Fork plate; 604. Movable plate; 605. Second spring; 606. Top rod; 60 7. Swing rod; 608. Limiting block; 609. Vertical plate; 610. Toothed plate; 611. Top plate; 612. Third spring; 613. Gear; 614. Rotating shaft; 615. Stop bar; 7. Gravity balancing mechanism; 701. Guide rod; 702. Adjusting plate; 703. Connecting rod; 704. Round rod; 705. Movable platform; 706. Slider; 707. Guide rail; 708. Lead screw; 709. Counterweight; 710. Locking nut. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-7 This invention provides a technical solution: a stacking device for storing benzonitrile products based on industrial vision, comprising a pallet 1 and a traveling trolley 3. Storage barrels 2 for storing benzonitrile products are evenly placed on the pallet 1. A fixed frame 4 is fixed on the traveling trolley 3, and a drive mechanism 5 is installed on the fixed frame 4. The drive mechanism 5 realizes the lifting and visual positioning stacking of the storage barrels 2. The drive mechanism 5 is connected to a lifting mechanism 6, which realizes the lifting of the pallet 1 and the limiting of the storage barrels 2. The drive mechanism 5 is connected to a gravity balancing mechanism 7, which realizes the gravity self-balancing of the storage barrels 2 when they are lifted.

[0022] The lifting mechanism 6 includes a connecting frame 601 with one end fixed to the mounting plate 506, and the other end of the connecting frame 601 fixed to the base plate 602. A fork plate 603 is symmetrically fixed to the base plate 602, and the fork plate 603 is slidably connected to the moving plate 604. A second spring 605 is fixed between the moving plate 604 and the fork plate 603. A top rod 606 is also fixed to the lower end face of the moving plate 604, and the top rod 606 is slidably connected to the fork plate 603. The top rod 606 is also slidably connected to the swing rod 607, which is rotatably connected to the fork plate 603. A torsion spring is also connected between the swing rod 607 and the fork plate 603. A limit block 608 is also fixed on the 7, and the upper end face of the limit block 608 is flush with the upper end face of the fork plate 603; a vertical plate 609 is vertically fixed on the fork plate 603, and the vertical plate 609 is slidably connected to the toothed plate 610, and the toothed plate 610 is fixed to the top plate 611, while a third spring 612 is fixed between the top plate 611 and the vertical plate 609; the toothed plate 610 is meshed with the gear 613, and the gear 613 is fixed to one end of the rotating shaft 614, and the rotating shaft 614 is bearing connected to the base plate 602, while the other end of the rotating shaft 614 is fixed to the stop lever 615, and the rotation angle of the stop lever 615 is 0°-45°; When using this industrial vision-based stacking device for storing benzonitrile products, such as Figures 1-7 As shown, the entire device is first moved by the traveling trolley 3, which, in conjunction with the visual inspection of the vision camera 508, ensures that the fork plate 603 and the limiting block 608 cooperate with the pallet 1. The movement of the traveling trolley 3 allows the fork plate 603 to pass through the pallet 1. During this process, when the pallet 1 contacts the top plate 611, the traveling trolley 3 continues to drive the fork plate 603 towards the pallet 1. Due to the gravity of the benzonitrile products stored in the pallet 1 and storage bin 2, the top plate 611 is subjected to force and moves relative to the vertical plate 609. Combined with the sliding guide action between the toothed plate 610 and the vertical plate 609, this ensures... The stability of the top plate 611 movement, and when the toothed plate 610 slides, the meshing between the toothed plate 610 and the gear 613 can make the rotating shaft 614 rotate under force, thereby synchronously driving the stop bar 615 to rotate until the third spring 612 is contracted to the limit state. At this time, the stop bar 615 is exactly rotated 45° and is in an inclined state. The stop bar 615 can limit the side of the storage barrel 2 to prevent the storage barrel 2 from sliding to the side during subsequent transfer and stacking, thus ensuring the stability of the device operation. When the stop bar 615 rotates 45°, the limiting block 608 just passes through the tray 1 and is located on the right side of the tray 1, thereby completing the cooperation and insertion operation between the fork plate 603 and the tray 1. The drive mechanism 5 includes a motor 501 fixed on the fixed frame 4, and a threaded rod 502 fixed to the output end of the motor 501. The threaded rod 502 is connected to the traveling trolley 3 by a bearing. The threaded rod 502 is threadedly connected to the movable plate 503, and the movable plate 503 is slidably connected to the vertical rod 504. The vertical rod 504 is symmetrically fixed between the fixed frame 4 and the traveling trolley 3. The movable plate 503 is fixed to one end of the first spring 505, and the other end of the first spring 505 is fixed to the mounting plate 506. The mounting plate 506 is slidably connected to the vertical rod 504. A crossbar 507 is also symmetrically fixed on the mounting plate 506. The crossbar 507 is slidably connected to the fixed frame 4, and a vision camera 508 is also fixed on the crossbar 507. After the forklift 603 and pallet 1 are interlocked, as follows: Figures 1-7 As shown, when lifting the pallet 1 and storage bin 2, the motor 501 is started, which drives the threaded rod 502 to rotate. The threaded connection between the threaded rod 502 and the movable plate 503 allows the movable plate 503 to move upwards under force. The sliding guide between the movable plate 503 and the vertical rod 504 ensures the stability of the movable plate 503's movement. Furthermore, the flexible support provided by the first spring 505 between the movable plate 503 and the mounting plate 506 allows the mounting plate 506 to move upwards simultaneously with the movable plate 503. The sliding guide between the mounting plate 506 and the vertical rod 504 ensures the stability of the mounting plate 506's movement. The upward movement of the mounting plate 506 simultaneously drives the connecting frame 60. 1. The base plate 602, fork plate 603, and moving plate 604 move upward. When the moving plate 604 contacts the pallet 1, the gravity of the benzonitrile products stored in the pallet 1 and storage bucket 2 causes the moving plate 604 to move downward relative to the fork plate 603. Combined with the sliding action between the top rod 606 and the fork plate 603, the downward movement of the moving plate 604 can be ensured. Furthermore, the downward movement of the top rod 606 can generate pressure on one end of the swing rod 607, causing the swing rod 607 to swing under force, which in turn causes the limiting block 608 to swing upward until the upper surface of the moving plate 604 is flush with the upper surface of the fork plate 603. At this time, the limiting block 608 is in an inclined state to limit the pallet 1, preventing the pallet 1 from separating from the fork plate 603 during subsequent transfer, thus ensuring the stability of the device operation. The gravity balancing mechanism 7 includes a guide rod 701 fixed on the mounting plate 506, and an adjusting plate 702 slidably connected to the guide rod 701. The adjusting plate 702 is rotatably connected to one end of the connecting rod 703, while the other end of the connecting rod 703 is rotatably connected to the movable plate 503. The adjusting plate 702 is slidably connected to the round rod 704, and the round rod 704 is symmetrically fixed to the movable platform 705. The lower end of the movable platform 705 is symmetrically fixed with sliders 706, and the sliders 706 are slidably connected to the guide rail 707. The guide rail 707 is symmetrically fixed to the traveling trolley 3. The movable platform 705 is also fixed with a lead screw 708, and a counterweight 709 is sleeved on the lead screw 708. The counterweight 709 is locked to the lead screw 708 by a locking nut 710. After the upper surface of the movable plate 604 is flush with the upper surface of the fork plate 603, as Figures 1-7 As shown, at this time, the fork plate 603 and the movable plate 604 simultaneously contact the pallet 1 to achieve a lifting effect. The motor 501 drives the threaded rod 502 to continue rotating, causing the movable plate 503 to continue to move upward. At this time, due to the gravity of the benzonitrile products stored in the pallet 1 and the storage tank 2, the mounting plate 506 is restricted from moving upward with the movable plate 503, thus causing the movable plate 503 to move relative to the mounting plate 506. At this time, the first spring 505 is compressed, and with the transmission action of the connecting rod 703, the adjusting plate 702 can be moved to the left. With the sliding guidance between the adjusting plate 702 and the guide rod 701, the stability of the leftward movement of the adjusting plate 702 can be ensured. When the adjusting plate 702 moves to the left, the round rod 704 and the movable platform 704 are pushed simultaneously. The movement of the movable platform 705 and the counterweight 709, in conjunction with the sliding guide action between the slider 706 and the guide rail 707, ensures the stability of the movement of the movable platform 705 and the counterweight 709 until the elastic force of the first spring 505 is balanced with the weight of the benzonitrile products stored in the tray 1 and the storage bucket 2, thereby completing the adjustment of the center of gravity of the counterweight 709. The counterweight 709 can balance the weight of the benzonitrile products stored in the tray 1 and the storage bucket 2, preventing the device from tipping over during the lifting process due to the weight of the benzonitrile products stored in the tray 1 and the storage bucket 2. According to the above principle, the greater the weight of the benzonitrile products stored in the tray 1 and the storage bucket 2, the farther the counterweight 709 moves, thereby achieving the gravity self-balancing adjustment effect. When the elastic force of the first spring 505 is balanced with the weight of the benzonitrile products stored in the pallet 1 and storage bin 2, the movable plate 503 continues to move upward, which can drive the mounting plate 506, fork plate 603, pallet 1 and storage bin 2 to move upward, thereby realizing the lifting function of pallet 1 and storage bin 2, so as to realize the transfer and lifting of pallet 1 and storage bin 2. Through the transfer and lifting of pallet 1 and storage bin 2, multiple pallet 1 and storage bin 2 can be stacked. When multiple pallet 1 and storage bin 2 are stacked, the movement of the mounting plate 506 can simultaneously drive the crossbar 507 and vision camera 508 to move, so that the height of vision camera 508 is adapted to the stacking height, thereby achieving accurate visual positioning during the stacking process and ensuring stacking quality.

[0023] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0024] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A stacking device for storing benzonitrile products based on industrial vision, comprising a pallet (1) and a traveling trolley (3), wherein storage barrels (2) for storing benzonitrile products are evenly placed on the pallet (1), characterized in that: The trolley (3) is fixed with a frame (4), and a drive mechanism (5) is installed on the frame (4). The drive mechanism (5) is used to lift the storage bucket (2) and perform visual positioning and stacking. The drive mechanism (5) is connected to the lifting mechanism (6). The lifting mechanism (6) is used to lift the pallet (1) and limit the storage bucket (2). The drive mechanism (5) is connected to the gravity balance mechanism (7). The gravity balance mechanism (7) is used to achieve gravity self-balancing when the storage bucket (2) is lifted.

2. The stacking device for storing benzonitrile products based on industrial vision according to claim 1, characterized in that: The drive mechanism (5) includes a motor (501) fixed on the fixed frame (4), and the output end of the motor (501) is fixed with a threaded rod (502), and the threaded rod (502) is connected to the traveling trolley (3) by a bearing. At the same time, the threaded rod (502) is threadedly connected to the movable plate (503), and the movable plate (503) is slidably connected to the vertical rod (504). The vertical rod (504) is symmetrically fixed between the fixed frame (4) and the traveling trolley (3).

3. The stacking device for storing benzonitrile products based on industrial vision according to claim 2, characterized in that: The movable plate (503) is fixed to one end of the first spring (505), and the other end of the first spring (505) is fixed to the mounting plate (506). The mounting plate (506) and the vertical rod (504) are slidably connected.

4. A stacking device for storing benzonitrile products based on industrial vision according to claim 3, characterized in that: The mounting plate (506) is also symmetrically fixed with crossbars (507) at the front and back, and the crossbars (507) are slidably connected to the fixing frame (4), and a vision camera (508) is also fixed on the crossbars (507).

5. A stacking device for storing benzonitrile products based on industrial vision according to claim 4, characterized in that: The lifting mechanism (6) includes a connecting frame (601) with one end fixed to the mounting plate (506), and the other end of the connecting frame (601) is fixed to the base plate (602). The base plate (602) is symmetrically fixed with fork plates (603) at the front and back. The fork plates (603) and the moving plate (604) are slidably connected. A second spring (605) is fixed between the moving plate (604) and the fork plates (603).

6. A stacking device for storing benzonitrile products based on industrial vision according to claim 5, characterized in that: The lower end face of the movable plate (604) is also fixed with a top rod (606), and the top rod (606) is slidably connected to the fork plate (603), and the top rod (606) is slidably connected to the swing rod (607). At the same time, the swing rod (607) is rotatably connected to the fork plate (603). A torsion spring is also connected between the swing rod (607) and the fork plate (603), and a limit block (608) is also fixed on the swing rod (607). The upper end face of the limit block (608) is flush with the upper end face of the fork plate (603).

7. A stacking device for storing benzonitrile products based on industrial vision according to claim 6, characterized in that: A vertical plate (609) is vertically fixed on the fork plate (603), and the vertical plate (609) and the toothed plate (610) are slidably connected. The toothed plate (610) and the top plate (611) are fixed to each other, and a third spring (612) is fixed between the top plate (611) and the vertical plate (609).

8. A stacking device for storing benzonitrile products based on industrial vision according to claim 7, characterized in that: The toothed plate (610) and the gear (613) are meshed together, and one end of the gear (613) and the rotating shaft (614) are fixed to each other. The rotating shaft (614) is bearing connected to the base plate (602), and the other end of the rotating shaft (614) is fixed to the stop lever (615). The rotation angle of the stop lever (615) is 0°-45°.

9. A stacking device for storing benzonitrile products based on industrial vision according to claim 8, characterized in that: The gravity balancing mechanism (7) includes a guide rod (701) fixed on the mounting plate (506), and an adjusting plate (702) is slidably connected to the guide rod (701). The adjusting plate (702) is rotatably connected to one end of the connecting rod (703), while the other end of the connecting rod (703) is rotatably connected to the movable plate (503).

10. A stacking device for storing benzonitrile products based on industrial vision according to claim 9, characterized in that: The adjusting plate (702) and the round rod (704) are slidably connected, and the round rod (704) is symmetrically fixed on the movable platform (705). The lower end of the movable platform (705) is symmetrically fixed with sliders (706). The sliders (706) and the guide rail (707) are slidably connected. The guide rail (707) is symmetrically fixed on the traveling trolley (3). The movable platform (705) is also fixed with a lead screw (708). A counterweight (709) is sleeved on the lead screw (708). The counterweight (709) is locked to the lead screw (708) by a locking nut (710).

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