阅读说明：本技术 一种大型货运无人机物料顶出结构及物料投放方法 (Large-scale freight unmanned aerial vehicle material ejection structure and material feeding method ) 是由 刘泽峰 魏雅川 姚兰芳 王璟昭 李金泽 于 2021-08-16 设计创作，主要内容包括：本发明公开了一种货运无人机货物存储导出结构,包括相互平行的至少两条传送线,传送线的上方具有支撑架构,支撑架构上具有若干沿传送线布置的竖直料仓；传送线的端部设有纵向输送线,纵向输送线垂直于传送线,纵向输送线的一侧设有导向结构；导向结构包括平移轨道,平移轨道上具有滑轨,滑轨上设有平移装置,平移装置上具有输出电机和弧形导料板；弧形导料板的一端固定在平移装置上,弧形导料板的另一端朝向传送线,弧形导料板上安装有导料辊,导料辊和输出电机的输出轴传动连接。本发明应用在无人机空投上,可以由无人机在飞行过程中自主完成托盘机舱内的输送,及空投任务。解决了由于人员无法到达的环境下,物资输送的问题。(The invention discloses a cargo storage and export structure of a freight unmanned aerial vehicle, which comprises at least two mutually parallel conveying lines, wherein a support framework is arranged above the conveying lines, and a plurality of vertical bins arranged along the conveying lines are arranged on the support framework; a longitudinal conveying line is arranged at the end part of the conveying line and is perpendicular to the conveying line, and a guide structure is arranged on one side of the longitudinal conveying line; the guide structure comprises a translation rail, a slide rail is arranged on the translation rail, a translation device is arranged on the slide rail, and an output motor and an arc-shaped material guide plate are arranged on the translation device; one end of the arc-shaped material guide plate is fixed on the translation device, the other end of the arc-shaped material guide plate faces the transmission line, the material guide roller is installed on the arc-shaped material guide plate, and the material guide roller is in transmission connection with an output shaft of the output motor. The invention is applied to the air drop of the unmanned aerial vehicle, and the unmanned aerial vehicle can independently complete the conveying in the tray cabin and the air drop task in the flight process. The problem of because under the environment that personnel can't reach, the goods and materials are carried is solved.)

1. A cargo storage and export structure of a freight transport unmanned aerial vehicle is characterized by comprising at least two mutually parallel conveying lines (22), wherein a support framework (10) is arranged above the conveying lines (22), and a plurality of vertical bins (7) arranged along the conveying lines (22) are arranged on the support framework (10); a longitudinal conveying line (4) is arranged at the end part of the conveying line (22), the longitudinal conveying line (4) is perpendicular to the conveying line (22), and a guide structure is arranged on one side of the longitudinal conveying line (4); the guide structure comprises a translation track (1), a slide rail (2) is arranged on the translation track (1), a translation device (3) is arranged on the slide rail (2), and an output motor and an arc-shaped material guide plate (5) are arranged on the translation device (3); one end of the arc-shaped material guide plate (5) is fixed on the translation device (3), the other end of the arc-shaped material guide plate (5) faces the conveying line (22), the arc-shaped material guide plate (5) is provided with a material guide roller (6), and the material guide roller (6) is in transmission connection with an output shaft of the output motor.

2. A large-scale freight unmanned aerial vehicle material ejection structure according to claim 1, wherein the vertical storage bin (7) comprises a first side lifting mechanism and a second side lifting mechanism, the first side lifting mechanism comprises a first upper rotating shaft and a first lower rotating shaft, the first upper rotating shaft and the first lower rotating shaft are parallel to each other, the first upper rotating shaft is located above the first lower rotating shaft, and the first upper rotating shaft and the first lower rotating shaft are both mounted on the support framework (10); the first lifting mechanism further comprises a first left side transmission belt (12) and a first right side transmission belt (13), the first left side transmission belt (12) and the first right side transmission belt (13) are arranged on the first upper rotating shaft and the first lower rotating shaft, and a plurality of supporting strips (11) are arranged on the first left side transmission belt (12) and the first right side transmission belt (13); the second side lifting mechanism comprises a second upper rotating shaft (15) and a second lower rotating shaft (18), the second upper rotating shaft (15) and the second lower rotating shaft (18) are parallel to each other, the second upper rotating shaft (15) is positioned above the second lower rotating shaft (18), and the second upper rotating shaft (15) and the second lower rotating shaft (18) are both installed on the supporting framework (10); the second lifting mechanism further comprises a second left side transmission belt (17) and a second right side transmission belt (14), the second left side transmission belt (17) and the second right side transmission belt (14) are arranged on a second upper portion rotating shaft (15) and a second lower portion rotating shaft (18), and a plurality of supporting strips (11) are arranged on the second left side transmission belt (17) and the second right side transmission belt (14).

3. The material ejection structure of the large-scale cargo unmanned aerial vehicle according to claim 2, wherein the first side lifting mechanism further comprises a first driving device (8), the first driving device (8) is mounted on the support framework (10), a first upper rotating shaft is provided with a first driving wheel, and an output shaft of the first driving device (8) is in transmission connection with the first driving wheel; the second side lifting mechanism further comprises a second driving device (9), the second driving device (9) is installed on the supporting framework (10), a second transmission wheel (16) is arranged on the second upper rotating shaft (15), and an output shaft of the second driving device (9) is in transmission connection with the second transmission wheel (16).

4. A large-scale freight unmanned aerial vehicle material ejection structure according to claim 3, characterized in that the lower part of the vertical bin (7) is provided with a first sensor, the first sensor is mounted on the support framework (10), and the first sensor is used for detecting whether the lower part of the vertical bin (7) has a pallet (20); the upper part of the vertical silo (7) is provided with a second sensor which is arranged on the supporting framework (10) and is used for detecting whether the pallet (20) is arranged on the upper part of the vertical silo (7).

5. The material ejection structure of the large-scale cargo unmanned aerial vehicle according to claim 4, characterized in that a stop rod (19) is installed above each conveying line (22), the stop rods (19) are horizontally arranged, and the conveying lines (22) are parallel to the stop rods (19); the pallet (20) is provided with brackets (21) on both sides, and the support bar (11) is positioned corresponding to the brackets (21).

6. The cargo exporting method of the large-scale cargo unmanned aerial vehicle according to claim 5 comprises the following steps: placing a pallet (20) filled with goods on a longitudinal conveying line (4), guiding the pallet (20) to one conveying line (22) through an arc-shaped material guide plate (5) and a material guide roller (6), wherein when the pallet (20) passes through a first vertical bin (7), a first sensor detects that the pallet (20) is positioned at the lower part of the vertical bin (7), and a second sensor detects that the pallet (20) is not positioned at the upper part of the vertical bin (7); moving the pallet (20) to a second layer of the vertical bin (7) through a first left-side driving belt (12), a first right-side driving belt (13), a second left-side driving belt (17) and a second right-side driving belt (14) under the action of a first driving device (8) and a second driving device (9) until the top layer of the vertical bin (7) is provided with the pallet (20); the second sensor detects that the top layer of the vertical bin (7) is also provided with a pallet (20), and the first driving device (8) and the second driving device (9) stop rotating and are kept; the pallet (20) is then moved to the next vertical magazine (7) and the process is repeated until all vertical magazines (7) of the current conveyor line (22) are filled with pallets (20), and the pallet (20) is then guided to the other conveyor line (22) by means of the curved material guide plates (5) and the material guide rollers (6) until all vertical magazines (7) of all conveyor lines (22) are filled and the loading is completed.

7. The method for exporting freight unmanned air vehicle cargos according to claim 6, further comprising: before air drop, a first driving device (8) and a second driving device (9) of each vertical bin (7) of the same conveying line (22) are operated, a pallet (20) at the lowest layer is placed on the corresponding conveying line (22), the pallet (20) enters a longitudinal conveying line (4), the moving direction of the pallet (20) is changed through an arc-shaped material guide plate (5) and a material guide pipe, and then the pallet is dropped from a cabin door; pallets (20) of the second tier are then dropped according to the method described above, and pallets (20) of the remaining conveyor lines (22) are then dropped according to the method described above.

Technical Field

The invention relates to a material ejection structure and a material throwing method of a large freight transport unmanned aerial vehicle, which are applied to a material conveying and air-dropping device of the large freight transport unmanned aerial vehicle, can automatically finish the practical invention of conveying and air-dropping of a plurality of material trays on the unmanned aerial vehicle, and mainly relate to the aspects of conveying and air-dropping of the material trays and the like.

Background

At present, in some fields similar to logistics, material distribution is carried out. The distribution of materials is generally carried out by adopting the modes of land transportation, air transportation and manual transportation. However, when the above-mentioned distribution method cannot be realized due to the reason that personnel cannot reach the device in a special environment, providing an unmanned aerial delivery device is a technical problem to be solved.

Disclosure of Invention

The invention aims to provide a material ejection structure of a large freight transport unmanned aerial vehicle, which is applied to the air drop of the unmanned aerial vehicle and can automatically complete the conveying in a tray cabin and the air drop task in the flight process of the unmanned aerial vehicle. The problem of because under the environment that personnel can't reach, the goods and materials are carried is solved. The material is convenient to put in under special environment more timely, accurate, convenient, improves the material and carries the rate of accuracy moreover, practices thrift the cost of labor.

In order to solve the technical problems, the invention adopts the following technical scheme:

a cargo storage and export structure of a freight transport unmanned aerial vehicle comprises at least two mutually parallel conveying lines, wherein a support framework is arranged above the conveying lines, and a plurality of vertical bins arranged along the conveying lines are arranged on the support framework; a longitudinal conveying line is arranged at the end part of the conveying line and is perpendicular to the conveying line, and a guide structure is arranged on one side of the longitudinal conveying line; the guide structure comprises a translation rail, a slide rail is arranged on the translation rail, a translation device is arranged on the slide rail, and an output motor and an arc-shaped material guide plate are arranged on the translation device; one end of the arc-shaped material guide plate is fixed on the translation device, the other end of the arc-shaped material guide plate faces the transmission line, the material guide roller is installed on the arc-shaped material guide plate, and the material guide roller is in transmission connection with an output shaft of the output motor.

In the material ejection structure of the large-scale freight unmanned aerial vehicle, the vertical bin comprises a first side lifting mechanism and a second side lifting mechanism, the first side lifting mechanism comprises a first upper rotating shaft and a first lower rotating shaft, the first upper rotating shaft and the first lower rotating shaft are parallel to each other, the first upper rotating shaft is positioned above the first lower rotating shaft, and the first upper rotating shaft and the first lower rotating shaft are both installed on the supporting framework; the first lifting mechanism further comprises a first left side transmission belt and a first right side transmission belt, the first left side transmission belt and the first right side transmission belt are both arranged on the first upper rotating shaft and the first lower rotating shaft, and a plurality of supporting strips are arranged on the first left side transmission belt and the first right side transmission belt; the second side lifting mechanism comprises a second upper rotating shaft and a second lower rotating shaft, the second upper rotating shaft and the second lower rotating shaft are parallel to each other, the second upper rotating shaft is positioned above the second lower rotating shaft, and the second upper rotating shaft and the second lower rotating shaft are both arranged on the supporting framework; the second hoisting mechanism further comprises a second left side transmission belt and a second right side transmission belt, the second left side transmission belt and the second right side transmission belt are both arranged on a second upper portion rotating shaft and a second lower portion rotating shaft, and a plurality of supporting strips are arranged on the second left side transmission belt and the second right side transmission belt. The vertical bin drags the pallet upwards by inserting the pallet on the support bars through the brackets, and then moves the support bars upwards to lift the pallet upwards.

In the material ejection structure of the large-scale freight unmanned aerial vehicle, the first side lifting mechanism further comprises a first driving device, the first driving device is mounted on the support framework, a first upper rotating shaft is provided with a first driving wheel, and an output shaft of the first driving device is in transmission connection with the first driving wheel; the second side lifting mechanism further comprises a second driving device, the second driving device is installed on the supporting framework, a second driving wheel is arranged on the second upper rotating shaft, and an output shaft of the second driving device is in transmission connection with the second driving wheel.

In the material ejection structure of the large freight unmanned aerial vehicle, the lower part of the vertical bin is provided with the first sensor, the first sensor is arranged on the support framework, and the first sensor is used for detecting whether a pallet is arranged at the lower part of the vertical bin; the upper portion of the vertical bin has a second sensor mounted on the support structure for detecting whether a pallet is present on the upper portion of the vertical bin.

In the material ejection structure of the large-scale freight transport unmanned aerial vehicle, the stop rods are arranged above the conveying lines and are horizontally arranged, and the conveying lines are parallel to the stop rods; the pallet is provided with brackets on two sides, and the support bar is positioned corresponding to the brackets.

A cargo exporting method of a freight unmanned aerial vehicle adopts the large-scale cargo unmanned aerial vehicle material ejection structure, and comprises the following contents: the method comprises the following steps that a pallet with goods is placed on a longitudinal conveying line, the pallet is guided to one conveying line through an arc-shaped material guide plate and a material guide roller, when the pallet passes through a first vertical bin, a first sensor detects that the pallet is located at the lower part of the vertical bin, and meanwhile a second sensor detects that no pallet is located at the upper part of the vertical bin; moving the pallets to a second layer of the vertical storage bin through the first left driving belt, the first right driving belt, the second left driving belt and the second right driving belt under the action of the first driving device and the second driving device until the top layer of the vertical storage bin is provided with the pallets; the second sensor detects that the top layer of the vertical bin is provided with a pallet, and the first driving device and the second driving device stop rotating and keep; and then the pallet is moved to the next vertical bin, the process is repeated until all the vertical bins of the conveying line are filled with the pallet, then the pallet is guided to the other conveying line through the arc-shaped material guide plate and the material guide rollers until all the vertical bins of all the conveying lines are filled, and the loading is finished.

In the foregoing cargo transportation unmanned aerial vehicle cargo export method, the method further includes the following steps: before air drop, the first driving device and the second driving device of each vertical bin of the same conveying line are operated, the pallet at the lowest layer is placed on the corresponding conveying line, the pallet enters the longitudinal conveying line, the moving direction of the pallet is changed through the arc-shaped material guide plate and the material guide pipe, and then the pallet is dropped from the cabin door; the pallets of the second tier are then dropped in accordance with the method described above and the pallets of the remaining conveyor lines are then dropped in accordance with the method described above.

Compared with the prior art, the invention is applied to the air drop of the unmanned aerial vehicle, and the unmanned aerial vehicle can independently complete the conveying in the tray cabin and the air drop task in the flight process. The problem of because under the environment that personnel can't reach, the goods and materials are carried is solved. The material is convenient to put in under special environment more timely, accurate, convenient, improves the material and carries the rate of accuracy moreover, practices thrift the cost of labor.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

figure 2 is a schematic diagram of the structure of one embodiment of the present pallet.

Reference numerals: 1-translation track, 2-slide rail, 3-translation device, 4-longitudinal conveying line, 5-arc material guide plate, 6-material guide roller, 7-vertical bin, 8-first driving device, 9-second driving device, 10-support framework, 11-support bar, 12-first left driving belt, 13-first right driving belt, 14-second right driving belt, 15-second upper rotating shaft, 16-second driving wheel, 17-second left driving belt, 18-second lower rotating shaft, 19-stop rod, 20-pallet, 21-bracket and 22-conveying line.

The invention is further described with reference to the following figures and detailed description.

Detailed Description

Example 1 of the invention: a cargo storage and export structure of a freight transport unmanned aerial vehicle comprises at least two mutually parallel conveying lines 22, wherein a support framework 10 is arranged above the conveying lines 22, and a plurality of vertical bins 7 arranged along the conveying lines 22 are arranged on the support framework 10; a longitudinal conveying line 4 is arranged at the end part of the conveying line 22, the longitudinal conveying line 4 is perpendicular to the conveying line 22, and a guide structure is arranged on one side of the longitudinal conveying line 4; the guide structure comprises a translation rail 1, a slide rail 2 is arranged on the translation rail 1, a translation device 3 is arranged on the slide rail 2, and an output motor and an arc-shaped material guide plate 5 are arranged on the translation device 3; one end of the arc-shaped material guide plate 5 is fixed on the translation device 3, the other end of the arc-shaped material guide plate 5 faces the transmission line 22, the material guide roller 6 is installed on the arc-shaped material guide plate 5, and the material guide roller 6 is in transmission connection with an output shaft of the output motor. A first sensor is arranged at the lower part of the vertical bin 7 and is arranged on the support framework 10, and the first sensor is used for detecting whether a pallet 20 is arranged at the lower part of the vertical bin 7; the upper part of the vertical silo 7 has a second sensor mounted on the support structure 10 for detecting the presence of a pallet 20 on the upper part of the vertical silo 7. The transmission lines 22 are all provided with a blocking rod 19, the blocking rods 19 are horizontally arranged, and the transmission lines 22 are all parallel to the blocking rods 19; the pallet 20 has brackets 21 on both sides thereof, and the support bar 11 is located at positions corresponding to the brackets 21.

Example 2: a cargo storage and export structure of a freight transport unmanned aerial vehicle comprises at least two mutually parallel conveying lines 22, wherein a support framework 10 is arranged above the conveying lines 22, and a plurality of vertical bins 7 arranged along the conveying lines 22 are arranged on the support framework 10; a longitudinal conveying line 4 is arranged at the end part of the conveying line 22, the longitudinal conveying line 4 is perpendicular to the conveying line 22, and a guide structure is arranged on one side of the longitudinal conveying line 4; the guide structure comprises a translation rail 1, a slide rail 2 is arranged on the translation rail 1, a translation device 3 is arranged on the slide rail 2, and an output motor and an arc-shaped material guide plate 5 are arranged on the translation device 3; one end of the arc-shaped material guide plate 5 is fixed on the translation device 3, the other end of the arc-shaped material guide plate 5 faces the transmission line 22, the material guide roller 6 is installed on the arc-shaped material guide plate 5, and the material guide roller 6 is in transmission connection with an output shaft of the output motor. A first sensor is arranged at the lower part of the vertical bin 7 and is arranged on the support framework 10, and the first sensor is used for detecting whether a pallet 20 is arranged at the lower part of the vertical bin 7; the upper part of the vertical silo 7 has a second sensor mounted on the support structure 10 for detecting the presence of a pallet 20 on the upper part of the vertical silo 7. The transmission lines 22 are all provided with a blocking rod 19, the blocking rods 19 are horizontally arranged, and the transmission lines 22 are all parallel to the blocking rods 19; the pallet 20 has brackets 21 on both sides thereof, and the support bar 11 is located at positions corresponding to the brackets 21.

The vertical bin 7 comprises a first side lifting mechanism and a second side lifting mechanism, the first side lifting mechanism comprises a first upper rotating shaft and a first lower rotating shaft, the first upper rotating shaft and the first lower rotating shaft are parallel to each other, the first upper rotating shaft is positioned above the first lower rotating shaft, and the first upper rotating shaft and the first lower rotating shaft are both arranged on the supporting framework 10; the first lifting mechanism further comprises a first left side transmission belt 12 and a first right side transmission belt 13, the first left side transmission belt 12 and the first right side transmission belt 13 are arranged on a first upper rotating shaft and a first lower rotating shaft, and a plurality of supporting strips 11 are arranged on the first left side transmission belt 12 and the first right side transmission belt 13; the second side-lift mechanism comprises a second upper rotation shaft 15 and a second lower rotation shaft 18, the second upper rotation shaft 15 and the second lower rotation shaft 18 being parallel to each other, the second upper rotation shaft 15 being located above the second lower rotation shaft 18, the second upper rotation shaft 15 and the second lower rotation shaft 18 being both mounted on the support structure 10; the second lifting mechanism further comprises a second left-side driving belt 17 and a second right-side driving belt 14, the second left-side driving belt 17 and the second right-side driving belt 14 are both arranged on a second upper rotating shaft 15 and a second lower rotating shaft 18, and a plurality of supporting strips 11 are arranged on the second left-side driving belt 17 and the second right-side driving belt 14

Example 3: a cargo storage and export structure of a freight transport unmanned aerial vehicle comprises at least two mutually parallel conveying lines 22, wherein a support framework 10 is arranged above the conveying lines 22, and a plurality of vertical bins 7 arranged along the conveying lines 22 are arranged on the support framework 10; a longitudinal conveying line 4 is arranged at the end part of the conveying line 22, the longitudinal conveying line 4 is perpendicular to the conveying line 22, and a guide structure is arranged on one side of the longitudinal conveying line 4; the guide structure comprises a translation rail 1, a slide rail 2 is arranged on the translation rail 1, a translation device 3 is arranged on the slide rail 2, and an output motor and an arc-shaped material guide plate 5 are arranged on the translation device 3; one end of the arc-shaped material guide plate 5 is fixed on the translation device 3, the other end of the arc-shaped material guide plate 5 faces the transmission line 22, the material guide roller 6 is installed on the arc-shaped material guide plate 5, and the material guide roller 6 is in transmission connection with an output shaft of the output motor. A first sensor is arranged at the lower part of the vertical bin 7 and is arranged on the support framework 10, and the first sensor is used for detecting whether a pallet 20 is arranged at the lower part of the vertical bin 7; the upper part of the vertical silo 7 has a second sensor mounted on the support structure 10 for detecting the presence of a pallet 20 on the upper part of the vertical silo 7. The transmission lines 22 are all provided with a blocking rod 19, the blocking rods 19 are horizontally arranged, and the transmission lines 22 are all parallel to the blocking rods 19; the pallet 20 has brackets 21 on both sides thereof, and the support bar 11 is located at positions corresponding to the brackets 21.

The vertical bin 7 comprises a first side lifting mechanism and a second side lifting mechanism, the first side lifting mechanism comprises a first upper rotating shaft and a first lower rotating shaft, the first upper rotating shaft and the first lower rotating shaft are parallel to each other, the first upper rotating shaft is positioned above the first lower rotating shaft, and the first upper rotating shaft and the first lower rotating shaft are both arranged on the supporting framework 10; the first lifting mechanism further comprises a first left side transmission belt 12 and a first right side transmission belt 13, the first left side transmission belt 12 and the first right side transmission belt 13 are arranged on a first upper rotating shaft and a first lower rotating shaft, and a plurality of supporting strips 11 are arranged on the first left side transmission belt 12 and the first right side transmission belt 13; the second side-lift mechanism comprises a second upper rotation shaft 15 and a second lower rotation shaft 18, the second upper rotation shaft 15 and the second lower rotation shaft 18 being parallel to each other, the second upper rotation shaft 15 being located above the second lower rotation shaft 18, the second upper rotation shaft 15 and the second lower rotation shaft 18 being both mounted on the support structure 10; the second lifting mechanism further comprises a second left-side driving belt 17 and a second right-side driving belt 14, the second left-side driving belt 17 and the second right-side driving belt 14 are both arranged on a second upper rotating shaft 15 and a second lower rotating shaft 18, and a plurality of supporting strips 11 are arranged on the second left-side driving belt 17 and the second right-side driving belt 14

The first side lifting mechanism further comprises a first driving device 8, the first driving device 8 is installed on the supporting framework 10, a first upper rotating shaft is provided with a first transmission wheel, and an output shaft of the first driving device 8 is in transmission connection with the first transmission wheel; the second side lifting mechanism further comprises a second driving device 9, the second driving device 9 is mounted on the supporting framework 10, a second upper rotating shaft 15 is provided with a second transmission wheel 16, and an output shaft of the second driving device 9 is in transmission connection with the second transmission wheel 16.

A cargo exporting method for a large-scale cargo unmanned aerial vehicle according to embodiment 3, comprising the following steps: placing a pallet 20 loaded with goods on the longitudinal conveyor line 4, guiding the pallet 20 to one of the conveyor lines 22 through the arc-shaped material guide plate 5 and the material guide rollers 6, wherein when the pallet 20 passes through the first vertical bin 7, the first sensor detects that the pallet 20 is positioned at the lower part of the vertical bin 7, and meanwhile, the second sensor detects that the pallet 20 is not positioned at the upper part of the vertical bin 7; moving the pallet 20 to a second level of the vertical silo 7 by means of a first left-hand belt 12, a first right-hand belt 13, a second left-hand belt 17 and a second right-hand belt 14 under the action of the first drive 8 and the second drive 9 until the top level of the vertical silo 7 also has the pallet 20; the second sensor detects that the top layer of the vertical silo 7 also has the pallet 20, and the first driving device 8 and the second driving device 9 stop rotating and keep; the pallet 20 is then moved to the next vertical bin 7 and the process is repeated until all vertical bins 7 of the current conveyor line 22 are filled with pallets 20, and the pallet 20 is then guided to the other conveyor line 22 by means of the curved guides 5 and the guide rollers 6 until all vertical bins 7 of all conveyor lines 22 are filled and loaded.

The method also comprises the following steps: before air-drop, the first driving device 8 and the second driving device 9 of each vertical bin 7 of the same conveying line 22 are operated, the pallet 20 at the lowest layer is placed on the corresponding conveying line 22, the pallet 20 enters the longitudinal conveying line 4, the moving direction of the pallet 20 is changed through the arc-shaped material guide plates 5 and the material guide pipes, and then the pallet 20 is dropped from the cabin door; pallets 20 of the second tier are then dropped in accordance with the method described above and pallets 20 of the remaining conveyor lines 22 are then dropped in accordance with the method described above.