Power input / output docking transmission device

Abstract

The application discloses a power input and output docking transmission device, which can transmit power from a power source to a power input through the docking of a transmission shaft, and utilizes a common power source to reduce the cost of equipment. The whole device is divided into a power output device part and a power input device part. A special driving spline shaft is used for docking the power input device. A floating platform is used for eliminating the positioning error of the driving and driven shafts during docking. A universal joint transmission device is used for transmitting power from the power source to the driving spline shaft. A pushing mechanism is used for pushing out the whole device. A power input device composed of an outer spline shaft and a gearbox is used for further transmitting the docked power. And other mechanisms are used for completing the functions of the device.

Description

Technical Field

[0001] This invention relates to the fields of logistics warehousing and transportation and transmission, and in particular to a power input and output docking transmission device. Background Technology

[0002] The raw material storage area of ​​the third-level cardboard packaging material processing plant uses a non-powered conveyor line, requiring manual operation by workers, which poses significant safety hazards. The storage area has a flat structure, occupying a large area of ​​the factory and hindering efficient use of space. Based on this, an automated storage and retrieval system (AS / RS) built using plate chain conveyor modules was developed. During actual development, it was found that the conveyor modules, powered by their own onboard power units, incurred substantial equipment and control costs. Therefore, a power transmission device was designed to reduce or simplify the power and control devices on the modules, thereby reducing costs.

[0003] The power transmission device is installed on the stacker crane. When the conveying module needs to run, the mechanical structure of the device completes the docking of the devices and ensures the positioning accuracy between the devices. Power is transmitted to the conveying module so that the conveying module can transport goods to the stacker crane. This device can reduce the equipment and control costs by 60%. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies and reduce equipment costs, the present invention adopts the following technical solution:

[0005] A power output device includes a driving internal spline shaft and a moving mechanism connected to each other. The driving internal spline shaft has a tapered end and a chamfered spline end face, enabling it to mesh with a driven external spline shaft on the power input device, which also has a chamfered end face and a chamfered spline end face. The moving mechanism is used to adjust the position of the driving internal spline shaft. Longitudinally, the moving mechanism pushes the driving internal spline shaft towards the driven external spline shaft, with its tapered surface contacting the chamfered end face of the driven external spline shaft. Under the action of a decomposed radial thrust, combined with the vertical and horizontal position adjustments of the moving mechanism, the driving internal spline shaft and the driven external spline shaft are made concentric. Under the action of a decomposed axial thrust, the driving internal spline shaft... The spline of the shaft moves towards the spline of the driven external spline shaft until they mesh. When the two pairs of contacting splines cannot mesh normally, the chamfer on the spline end face, under the continued action of the thrust, causes the driving internal spline shaft and the driven external spline shaft to rotate relative to each other, thus completing the meshing and eliminating the positioning error of the driving and driven shafts during docking. Alternatively, the driving external spline shaft is connected to the moving mechanism. Both the shaft end face and the spline end face of the driving external spline shaft are chamfered so that the driving external spline shaft can mesh with the driven internal spline shaft with a tapered end and a chamfered spline end face, which is fitted on the power input device. The moving mechanism is used to adjust the position of the driving external spline shaft. The principle is the same as above, but the meshing process is reversed.

[0006] Furthermore, the power output device also includes a bearing housing, a sliding key, a universal joint, a motor with a non-locking gearbox, and a base plate. The moving mechanism includes a sliding platform and a longitudinal moving mechanism. The active internal spline shaft / active external spline shaft is connected to the sliding platform via the bearing housing. The active internal spline shaft / active external spline shaft is connected to one end of the universal joint via the sliding key. The other end of the universal joint is connected to the motor with a non-locking gearbox. The sliding platform and the motor with a non-locking gearbox are fixed on the base plate. The base plate is connected to the longitudinal moving mechanism. The longitudinal moving mechanism is used for the longitudinal movement of the active internal spline shaft / active external spline shaft. The sliding platform is used for the vertical and horizontal movement of the active internal spline shaft / active external spline shaft. The motor with a gearbox without a self-locking gearbox provides power to the power output device. When the driving internal spline shaft / driving external spline shaft meshes with the driven external spline shaft / driven internal spline shaft, the motor with the gearbox without a self-locking gearbox is started. The power is transmitted sequentially through the universal joint, the driving internal spline shaft / driving external spline shaft, and the driven external spline shaft / driven internal spline shaft to the power input device. The purpose of the motor with a gearbox without a self-locking gearbox is to allow the driving internal spline shaft / driving external spline shaft to continue pushing forward when the splines of the driving internal spline shaft / driving external spline shaft and the driven external spline shaft / driven internal spline shaft are in spline contact but not properly meshed. This generates radial and axial components of force on the normal force of the contact surface. Based on these components, relative rotation occurs between the driving internal spline shaft / driving external spline shaft and the driven external spline shaft / driven internal spline shaft, thus completing the meshing.

[0007] Furthermore, the mobile platform includes a vertical platform, a third linear track, a horizontal platform, a second linear guide rail, and a mobile platform base. The active internal spline shaft / active external spline shaft is connected to the vertical platform. The vertical platform is slidably connected to the horizontal platform via the third linear track. The horizontal platform is slidably connected to the mobile platform base via the second linear guide rail. The mobile platform base is connected to the base plate.

[0008] Furthermore, the movable platform also includes: a first reset spring and a second reset spring, the first reset spring being used to reset the vertical platform when it slides relative to the horizontal platform, and the second reset spring being used to reset the horizontal platform when it slides relative to the base of the movable platform.

[0009] Furthermore, the longitudinal movement mechanism includes a first linear guide rail and a push rod. A slider is provided at the bottom of the base plate, and the slider is slidably connected to the first linear guide rail. A push rod connecting seat is provided on one side of the base plate, and the base plate is connected to one end of the push rod via the push rod connecting seat. The other end of the push rod and the first linear guide rail are both fixedly connected to a third-party platform other than the power output device. Under the action of the push rod, the base plate and the floating platform on the base plate, as well as the active internal spline shaft / active external spline shaft, can slide relative to the first linear guide rail based on the slider under the base plate, thereby enabling longitudinal movement.

[0010] A power input device includes a driven external spline shaft with a chamfered spline end face, enabling it to engage with a driven internal spline shaft on a power output device, the driven external spline shaft having a tapered end face and a chamfered spline end face. The driven external spline shaft is positioned and engaged with the driven internal spline shaft on the power output device, with a tapered end face and a chamfered spline end face. The driven internal spline shaft is positioned and engaged with the driven external spline shaft on the power output device, the driven internal spline shaft having a tapered end face and a chamfered spline end face. The driven internal spline shaft is positioned and engaged with the driven external spline shaft on the power output device, the driven internal spline shaft being engaged with the driven internal spline shaft on the power output device, the driven internal spline shaft being positioned and ... engaged with the driven internal spline shaft on the power output device, the driven internal spline shaft being engaged with the driven internal spline shaft on the power output device, with the driven internal spline shaft being positioned and engaged with the driven internal spline shaft on the power output device, the driven internal spline shaft being engaged with the driven internal spline shaft on the power output device, with the driven internal spline shaft being positioned and engaged with the driven internal spline shaft on the power output device, the driven internal spline shaft being engaged with the driven internal spline shaft on the power output device, with the driven internal spline shaft being engaged with the driven internal spline shaft on the power output device, with the driven internal spline shaft being engaged with the driven internal spline shaft on the power output device, with the

[0011] Furthermore, the power input device also includes a bevel gear reducer equipped with bevel gears. Power is transmitted through the meshing of one end of the driven external spline shaft / driven internal spline shaft with the driving internal spline shaft / driving external spline shaft, and then through the bevel gear reducer connected to the other end of the driven external spline shaft / driven internal spline shaft. The power is then directed by the bevel gears to input the power to the drive shaft of the conveying module.

[0012] A power transmission device includes a power input device and a power output device. The power output device includes a driving spline shaft and a moving mechanism connected thereto. The power input device includes a driven spline shaft. Each of the driven external spline shaft and the driving spline shaft is provided with a mating external spline shaft and an internal spline shaft with a tapered end. The shaft end face and spline end face of the external spline shaft are chamfered, and the spline end face of the internal spline shaft is chamfered. The moving mechanism is used to adjust the position of the driving spline shaft. The driving spline shaft is pushed towards the driven spline shaft by the longitudinal moving mechanism. The outer spline shaft moves radially along the conical surface through the chamfer on its end face. The moving mechanism adjusts the movement of the driving spline shaft in the vertical and horizontal directions, eventually making the outer spline shaft and the inner spline shaft concentric. Under the continued action of the thrust, the outer spline shaft and the inner spline shaft are meshed. When normal meshing is not possible, under the continued action of the thrust, the chamfer on the spline end faces of the outer spline shaft and the inner spline shaft can make the outer spline shaft and the inner spline shaft rotate relative to each other and complete the meshing.

[0013] Furthermore, the power output device also includes a bearing housing, a sliding key, a universal joint, a motor with a non-locking gearbox, and a base plate. The moving mechanism includes a sliding platform and a longitudinal moving mechanism. The active spline shaft is connected to the sliding platform via the bearing housing. The active spline shaft is connected to one end of the universal joint via the sliding key. The other end of the universal joint is connected to the motor with a non-locking gearbox. The sliding platform and the motor with a non-locking gearbox are fixed on the base plate. The base plate is connected to the longitudinal moving mechanism. The longitudinal moving mechanism is used for the longitudinal movement of the active spline shaft, and the sliding platform is used for the vertical and horizontal movement of the active spline shaft.

[0014] Furthermore, the power input device also includes a bevel gear reducer equipped with a bevel gear. Through the cooperation of the driving spline shaft and the driven spline shaft, the power is diverted through the bevel gear so that the power input transmission module is connected to the transmission module. The transmission module's drive shaft is connected to the bevel gear to obtain power to drive the transmission module.

[0015] The advantages and beneficial effects of this invention are as follows:

[0016] The present invention discloses a power input and output docking transmission device, which transmits power from the power source to the power input point by docking the transmission shaft, thereby reducing the cost of the equipment by using a shared power source; through a special setting of the drive spline shaft and the driven spline shaft, the output and input of power are docked, and combined with the floating platform and the longitudinal moving mechanism, the positioning error of the drive and driven shafts during docking is eliminated. Attached Figure Description

[0017] Figure 1 This is one of the overall structural schematic diagrams of the power output device in the embodiments of the present invention.

[0018] Figure 2 This is the second schematic diagram of the overall structure of the power output device in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the structure of the mobile platform in an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the conveying module and power input device in an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the stacker crane in an embodiment of the present invention.

[0022] Figure 6 This is a perspective view of the conical surface of the active internal spline shaft and the spline in an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of the driven external spline shaft end face and spline portion in an embodiment of the present invention.

[0024] Figure 8 This is a schematic diagram showing the placement of the power output device in an embodiment of the present invention.

[0025] Figure 9 This is one of the schematic diagrams showing the position of the power output device and the power input device before they are connected and transmitted in an embodiment of the present invention.

[0026] Figure 10 This is the second schematic diagram of the position of the power output device and the power input device before they are connected and transmitted in an embodiment of the present invention.

[0027] Figure 11 This is a perspective view of the driven external spline shaft using the conical surface of the active internal spline shaft in an embodiment of the present invention.

[0028] Figure 12 This is a force analysis diagram of the driven external spline shaft with the conical surface of the active internal spline shaft as the center, in an embodiment of the present invention.

[0029] Figure 13 This is a perspective view of the spline meshing between the driven external spline shaft and the driving internal spline shaft in an embodiment of the present invention.

[0030] Figure 14 This is a force analysis diagram of the spline meshing between the driven external spline shaft and the driving internal spline shaft in an embodiment of the present invention.

[0031] The labels in the diagram are as follows: 1-Active internal spline shaft, 2-Rotating platform, 3-Bearing housing, 4-Slide key, 5-Universal joint, 6-Motor with non-locking gearbox, 7-Base plate, 8-Push rod connecting seat, 9-First linear guide, 10-Rotating platform base, 11-Vertical platform, 12-Second linear guide, 13-Horizontal platform, 14-Third linear guide, 15-First return spring, 16-Second return spring, 17-Conveying module, 18-Bevel gear reducer, 19-Driven external spline shaft, 20-Stacker, 21-Lifting platform, 22-Stacker onboard conveyor platform, 23-Pneumatic push rod. Detailed Implementation

[0032] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0033] like Figure 1 , Figure 2 As shown, a power docking and transmission device includes a power input device and a power output device. The power output device includes an active internal spline shaft 1, a floating platform 2, a bearing seat 3, a sliding key 4, a cross universal joint 5, a motor with a non-self-locking gearbox 6, a base plate 7, a push rod connecting seat 8, a first linear guide rail 9, and a pneumatic push rod 23.

[0034] The active internal spline shaft 1 is a stepped shaft with a tapered surface inside the large shaft section. An internal spline is machined at the bottom of the tapered surface. Each key of the internal spline has a chamfer near the end face of the large shaft section, so that the spline appears as a sharp tooth at this end face. A hole is machined at the end face of the small shaft section for connection with the universal joint.

[0035] The active internal spline shaft 1 is mounted on the vertical platform 11 of the floating platform 2 via a bearing housing 3. The active internal spline shaft 1 is connected to the rear universal joint 5 via a sliding key 4. The other end of the universal joint 5 is connected to a motor 6 with a non-locking gearbox (hereinafter referred to as the motor). The floating platform 2 and the motor are fixed to the base plate 7, which is mounted on the lifting platform 21 via a first linear guide rail 9. The rear of the base plate 7 has a push rod connecting seat 8, which is hinged to the lifting platform 21 via a pneumatic push rod 23. The conical surface and spline chamfer of the active internal spline shaft 1 are as follows... Figure 6 As shown.

[0036] like Figure 2 , Figure 3 As shown, the movable platform 2 includes: a vertical platform 11, a third linear rail 14, a return spring 15, a horizontal platform 13, a second linear guide rail 12, a second return spring 16, and a movable platform base 10. The vertical platform 11 is mounted on the horizontal platform 13 via the third linear guide rail 14. The first return spring 15 is used to reset the vertical platform, keeping it in a certain position under normal conditions. The horizontal platform 13 is mounted on the movable platform base 10 via the second linear guide rail 12. The second return spring 16 is used to reset the horizontal platform 13, keeping it in a certain position under normal conditions. Under the constraint of the second linear guide rail 12 and the third linear guide rail 14, the horizontal platform 13 and the vertical platform 11 can move in the direction of the guide rails. Through the relative movement of the platforms, the active internal spline shaft 1 mounted on the vertical platform 11 can move freely in the plane vertical to the movable platform base 10 after being subjected to force.

[0037] In this embodiment of the invention, a horizontal platform 13 is mounted on the optical axis of the base via four linear bearings. The horizontal platform 13 can move horizontally relative to the base via the linear bearings on the optical axis. Springs at both ends of the platform connect to the base for resetting the platform. A vertical platform 11 is mounted on the optical axis of the horizontal platform 13 via two linear bearings. The vertical platform 11 can move vertically relative to the horizontal platform 13. A spring at the bottom of the vertical platform 11 connects to the horizontal platform 13 for resetting the vertical platform 11. The relative movement of the two platforms allows the spline shaft mounted on the vertical platform 11 to move within the vertical plane of the movable platform base 10. The entire movable platform 2 is fixed to the base plate 7 of the device.

[0038] like Figure 4 As shown, the power input device includes: a conveying module 17, a bevel gear reducer 18, and a driven external spline shaft 19. The output end of the bevel gear reducer 18 is connected to the drive shaft of the conveying module 17 to drive the belt or chain on the conveying module 17. The input end of the bevel gear reducer 18 is a driven external spline shaft 19, as shown... Figure 7As shown, both the end face of the shaft and the end face of the spline have chamfers to facilitate meshing with the active internal spline shaft 1. The interior of the bevel gear reducer 18 is a right-angle bevel gear, which can steer the power.

[0039] like Figure 5 As shown, the stacker crane 20 includes: a main body, a lifting platform 21, and a stacker crane-mounted conveyor platform 22. The power take-off device is placed on one side of the stacker crane-mounted conveyor platform 22, as shown. Figure 5 , Figure 8 As shown, the entire device can be pushed out along the first linear guide rail 9 by the pneumatic push rod 23. The stacker crane 20 and the lifting platform 21 can transport the stacker crane-mounted conveyor platform 22 and the power output device to the target escort platform position.

[0040] The pneumatic push rod 23 is hinged to the base plate 7 of the device and the lifting platform 21 of the stacker crane 20 via the base. The base plate 7 of the entire power connection and transmission device is slidably connected to the lifting platform 21 of the stacker crane via two sections of linear guide rails. Under the push of the pneumatic push rod 23, the entire device can move along the direction of the linear guide rails.

[0041] One end of the universal joint 5 is connected to the motor 6, and the other end is connected to the drive spline shaft via the slide key 4. The universal joint 5 transmits the power of the motor 6 to the drive spline shaft. The slide key 4 is mainly used to eliminate the influence caused by the axial movement tendency of the drive spline shaft relative to the universal joint drive shaft 5 during the movement process.

[0042] The power input device of the conveying module consists of a bevel gearbox and an external spline shaft with chamfered end faces. The external spline also has chamfers on both sides of the key at the chamfered end face, and is tooth-shaped at the end face. These special treatments are mainly used to ensure the reliability of the docking.

[0043] The stacker crane 20 is modified by adding lifting equipment to the RGV. It can lift the stacker crane-mounted conveyor platform 22 installed on the stacker crane 20 to a high position for docking with the second-level racks in the storage area. The horizontal movement of the RGV on the guide rails can make the platform dock horizontally with the rack area.

[0044] The conveying module 17 is a frame structure conveying device with an internal drive shaft. The rotation of the drive shaft drives the belt or plate chain on the device to rotate, thereby achieving the purpose of conveying goods.

[0045] The working principle of the device of the present invention is as follows: Figures 9 to 14 As shown, Figure 9 , Figure 10During the process, the power output device of the present invention is brought to a position near the power input device by the transport of the stacker crane 20 and the lifting platform 21. At this time, due to the operating error of the stacker crane 20 and the lifting platform 21, the active inner spline shaft 1 and the driven outer spline shaft 19 are not in a concentric position. Subsequently, the push rod 23 of the power output device operates, pushing the device out together with the base plate 7. As the power output device is pushed out, the driven outer spline shaft 19 enters the range of the cone surface of the active inner spline shaft and finally contacts the cone surface, such as... Figure 11 As shown, the normal force F generated by the contact can be decomposed into components F along the radial plane and the axial plane. 径 F 轴 ,like Figure 12 As shown, the component of the normal force F in the radial plane is F0. 径 This will cause the active internal spline shaft 1 to have a radial force F in the radial plane. 径 The tendency to move in the direction of motion, due to the presence of the moving platform 2, allows the active inner spline shaft 1 to move in the radial plane, thus the radial force component F... 径 Under the action of the pneumatic push rod 23, the splined parts of the driving internal spline shaft 1 and the driven external spline shaft 19, along with the extension of the pneumatic push rod 23, exert a force F in the axial plane. 径 Under the action of the pneumatic actuator, the device eventually reaches a concentric position along the conical surface. After reaching the concentric position, the pneumatic actuator 23 will continue to push the device out, and the splines of the driving inner spline shaft 1 and the driven outer spline shaft 19 will begin to mesh. The splines of the driving inner spline shaft 1 and the driven outer spline shaft 19 both have chamfers at their end faces, forming sharp teeth. During the meshing process, if normal meshing is not possible, the chamfers of the two splines will contact first, generating a normal force F' on the contact surface. Figure 13 The normal force is decomposed into a radial component F. y and axial component F x Because the gearbox of motor 6 does not have a self-locking capability, the axial component force F x Driven by this, and with the longitudinal component F in the longitudinal direction... y Under the action of the pneumatic actuator, the active internal spline shaft 1 will rotate. As the pneumatic actuator 23 is gradually extended, the splines of the active internal spline shaft 1 and the driven external spline shaft 19 will eventually reach a position where they can mesh normally. When the pneumatic actuator 23 is fully extended, it will reach a position where... Figure 14 The state shown indicates that the power unit has been successfully connected. After the motor 6 starts, the power flows sequentially along the direction of the motor 6, the universal joint 5, the driving internal spline shaft 1, the driven external spline shaft 19, the bevel gearbox 18, and the conveying module 17, ultimately driving the conveying module to operate.

[0046] After the power is transmitted, the pneumatic push rod 23 is retracted and reset, pulling the base plate 7 backward. The active inner spline shaft 1 and the driven outer spline shaft 19 separate. Under the action of the first reset spring 15 and the second reset spring 16, each platform of the moving platform 2 returns to its original position, ready for the next docking.

[0047] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A power output device, comprising an active internal spline shaft (1) and a moving mechanism interconnected therewith, characterized in that, The active internal spline shaft (1) has a tapered end and a chamfered spline end face, so that the active internal spline shaft can mesh with the driven external spline shaft (19) on the power input device, which has a chamfered end face and a chamfered spline end face. The moving mechanism is used to adjust the position of the active internal spline shaft (1); or the moving mechanism is connected to the active external spline shaft, which has a chamfered end face and a chamfered spline end face, so that the active external spline shaft can mesh with the driven internal spline shaft on the power input device, which has a tapered end and a chamfered spline end face. The moving mechanism is used to adjust the position of the active external spline shaft. The power output device also includes a bearing housing (3), a sliding key (4), a cross universal joint (5), a motor (6) with a non-locking gearbox, and a base plate (7). The moving mechanism includes a floating platform (2) and a longitudinal moving mechanism. The active inner spline shaft (1) / active outer spline shaft is connected to the floating platform (2) through the bearing housing (3). The active inner spline shaft (1) / active outer spline shaft is connected to one end of the cross universal joint (5) through the sliding key (4). The other end of the cross universal joint (5) is connected to the motor (6) with a non-locking gearbox. The floating platform (2) and the motor (6) with a non-locking gearbox are fixed on the base plate (7). The base plate (7) is connected to the longitudinal moving mechanism. The longitudinal moving mechanism is used for the active inner spline shaft (1) / active outer spline shaft to move in the longitudinal direction. The floating platform (2) is used for the active inner spline shaft (1) / active outer spline shaft to move in the vertical and horizontal directions. The mobile platform (2) includes a vertical platform (11), a third linear track (14), a horizontal platform (13), a second linear guide (12), and a mobile platform base (10). The active inner spline shaft (1) / active outer spline shaft is connected to the vertical platform (11). The vertical platform (11) is slidably connected to the horizontal platform (13) through the third linear track (14). The horizontal platform (13) is slidably connected to the mobile platform base (10) through the second linear guide (12). The mobile platform base (10) is connected to the base plate (7).

2. The power output device according to claim 1, characterized in that, The mobile platform (2) further includes: a first reset spring (15) and a second reset spring (16). The first reset spring (15) is used to reset the vertical platform (11) relative to the horizontal platform (13) when it slides, and the second reset spring (16) is used to reset the horizontal platform (13) relative to the mobile platform base (10) when it slides.

3. The power output device according to claim 1, characterized in that, The longitudinal moving mechanism includes a first linear guide rail (9) and a push rod (23). The bottom of the base plate is provided with a slider, which is slidably connected to the first linear guide rail (9). A push rod connecting seat (8) is provided on one side of the base plate (7), and the base plate (7) is connected to one end of the push rod (23) through the push rod connecting seat (8).

4. A power input device, comprising a driven external spline shaft (19), characterized in that, The driven external spline shaft (19) has a chamfered spline end face so that the driven external spline shaft (19) can be engaged with the driving internal spline shaft (1) on the power output device, which has a tapered end face and a chamfered spline end face. Under the cooperation of the moving mechanism of the power output device, the position is adjusted and engagement is completed; or the power input device is provided with a driven internal spline shaft, which has a tapered end face and a chamfered spline end face so that the driven internal spline shaft can be engaged with the driving external spline shaft on the power output device, which has a chamfered spline end face. Under the cooperation of the moving mechanism of the power output device, the position is adjusted and engagement is completed, wherein the power output device is the power output device described in claim 1.

5. A power input device according to claim 4, characterized in that, The power input device also includes a bevel gear reducer (18) with bevel gears. Power is input to the conveying module by meshing one end of the driven external spline shaft (19) / driven internal spline shaft with the driving internal spline shaft (1) / driving external spline shaft, and then through the bevel gear reducer (18) connected to the other end of the driven external spline shaft (19) / driven internal spline shaft.

6. A power docking and transmission device, comprising a power input device and a power output device, characterized in that, The power output device includes a driving spline shaft and a moving mechanism connected thereto. The power input device includes a driven spline shaft. Each of the driven spline shaft and the driving spline shaft is provided with a mating external spline shaft and an internal spline shaft with a tapered end. The shaft end face and spline end face of the external spline shaft are both chamfered, and the spline end face of the internal spline shaft is also chamfered. The moving mechanism is used to adjust the position of the driving spline shaft. The power output device also includes a bearing housing (3), a sliding key (4), a cross universal joint (5), a motor (6) with a non-locking gearbox, and a base plate (7). The moving mechanism includes a floating platform (2) and a longitudinal moving mechanism. The active spline shaft is connected to the floating platform (2) through the bearing housing (3). The active spline shaft is connected to one end of the cross universal joint (5) through the sliding key (4). The other end of the cross universal joint (5) is connected to the motor (6) with a non-locking gearbox. The floating platform (2) and the motor (6) with a non-locking gearbox are fixed on the base plate (7). The base plate (7) is connected to the longitudinal moving mechanism. The longitudinal moving mechanism is used for the active spline shaft to move longitudinally. The floating platform (2) is used for the active spline shaft to move in the vertical and horizontal directions. The mobile platform (2) includes a vertical platform (11), a third linear track (14), a horizontal platform (13), a second linear guide (12), and a mobile platform base (10). The active inner spline shaft (1) / active outer spline shaft is connected to the vertical platform (11). The vertical platform (11) is slidably connected to the horizontal platform (13) through the third linear track (14). The horizontal platform (13) is slidably connected to the mobile platform base (10) through the second linear guide (12). The mobile platform base (10) is connected to the base plate (7).

7. A power docking transmission device according to claim 6, characterized in that: The power input device also includes a bevel gear reducer (18) with bevel gears. Through the cooperation of the driving spline shaft and the driven spline shaft, the power is redirected through the bevel gears so that the power input transmission module (17) can be turned.

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