Single powered height-adjustable charging unit

Abstract

The present disclosure provides a single-powered, height-adjustable charging device, comprising a fixed frame, a first lifting mechanism, a second lifting mechanism, a horizontal movement mechanism, a charging brush block, and a power mechanism. The fixed frame is provided with a first resistance portion and a second resistance portion. The first lifting mechanism moves up and down between the first resistance portion and the second resistance portion. The second lifting mechanism is driven by a first elastic portion to move up and down between the first resistance portion and the second resistance portion. The horizontal movement mechanism is driven by the second lifting mechanism via a cam pair to move horizontally and extend for charging. The power mechanism is connected to the second lifting mechanism. Through the present disclosure, height adjustment and charging brush block extension can be achieved with only a single power mechanism, and the alignment accuracy of the charging brush block at its height position is not affected by the environment.

Description

Technical Field

[0001] The present application relates to the field of mobile robot charging, and in particular to a single-powered, height-adjustable charging device. Background Art

[0002] AGVs consume battery power during movement and operation, requiring them to be moved to a charging station installed on-site for automatic charging. The height of the charging brush plate varies between different AGV models. When AGVs are used in transport sites with two different charging brush plate locations, the charging station has only one charging height, which has poor adaptability. This typically requires two charging devices, each designed for different charging brush plate heights, to be installed on-site. This increases equipment and space costs. Furthermore, AGVs often use lithium batteries, which charge quickly, resulting in low charging station utilization. Furthermore, this situation requires a communication system and a judgment system to control the mobile robot's search for the appropriate charging device. To reduce system redundancy, the two charging devices are integrated. Conventional charging devices use one power mechanism to drive the charging brush plate up and down, while another power mechanism drives the charging brush plate horizontally, extending it toward the AGV's charging brush plate, thereby achieving charging. However, this dual-power mechanism drive makes the charging device structure cumbersome, the control logic complex, and increases software control costs. Furthermore, sensors are often required to collect data to determine the accuracy of the charging brush plate's height, and positioning accuracy is easily affected by the environment. Summary of the Invention

[0003] The present application provides a single-powered, height-adjustable charging device.

[0004] Specifically, this application is implemented through the following technical solutions:

[0005] The present application provides a single-powered, height-adjustable charging device for charging two types of AGVs, wherein the two types of AGVs have charging brush plates at a first charging height and a second charging height, respectively. The charging device includes:

[0006] A fixing frame is provided with a first resistance portion and a second resistance portion, wherein the first resistance portion corresponds to the first charging height and the second resistance portion corresponds to the second charging height;

[0007] a first lifting mechanism, disposed in the fixing frame via a first guide portion, adapted for the first lifting mechanism to move upward and downward between the first resistance portion and the second resistance portion;

[0008] a second lifting mechanism disposed within the first lifting mechanism via a second guide portion, the first lifting mechanism and the second lifting mechanism being connected via a first elastic portion, such that the second lifting mechanism drives the first lifting mechanism to move upward and downward between the first resistance portion and the second resistance portion by virtue of an elastic force of the first elastic portion;

[0009] a horizontal moving mechanism, arranged in the first lifting mechanism via a third guide portion, so as to be adapted for horizontal movement of the horizontal moving mechanism in the first lifting mechanism, wherein the second lifting mechanism cooperates with the horizontal moving mechanism via a cam pair;

[0010] A charging brush block is arranged outside the horizontal moving mechanism;

[0011] a power mechanism connected to the second lifting mechanism;

[0012] The resistances encountered by the first lifting mechanism at the first resistance portion position and the second resistance portion position are both greater than the maximum elastic force of the first elastic portion, so that when the first lifting mechanism is at the first resistance portion position and the second resistance portion position, the second lifting mechanism moves up and down relative to the first lifting mechanism, thereby allowing the second lifting mechanism to drive the horizontal moving mechanism to extend outward for charging through the cam pair.

[0013] In some embodiments, the first resistance portion and the second resistance portion are an upper stop and a lower stop, respectively, and the upper stop and the lower stop correspond to a first charging height and a second charging height, respectively.

[0014] In some embodiments, the first guide portion includes a track arranged in the fixed frame, and guide wheels are respectively provided at the top and bottom of the first lifting mechanism, and the guide wheels cooperate with the track so that when the first lifting mechanism is in the first resistance portion position, the top guide wheel is pressed against the upper stop, and when the first lifting mechanism is in the second resistance portion position, the bottom guide wheel is pressed against the lower stop.

[0015] In some embodiments, the second guide portion includes a first guide column disposed in the first lifting mechanism, the second lifting mechanism and the first elastic portion are sleeved on the first guide column, and the first elastic portion is disposed between the first lifting mechanism and the second lifting mechanism.

[0016] In some embodiments, the third guide portion includes a horizontal guide surface formed on the inner sides of the top wall and the bottom wall of the first lifting mechanism, and the horizontal moving mechanism is nested between the inner walls of the first lifting mechanism.

[0017] In some embodiments, the cam pair includes a V-shaped outer contour surface formed on the horizontal moving mechanism, and a V-shaped inner contour surface formed on the second lifting mechanism, the V-shaped outer contour surface is nested in the V-shaped inner contour surface, and the V-shaped outer contour surface and the V-shaped inner contour surface are in contact with each other through a guide wheel.

[0018] In some embodiments, a second elastic portion is further included, wherein the second elastic portion is connected between the first lifting mechanism and the horizontal moving mechanism, so as to provide an elastic force for the horizontal moving mechanism toward the first lifting mechanism.

[0019] In some embodiments, a first sensing device and a second sensing device are further included, wherein the first sensing device and the second sensing device are respectively used to detect the required charging height.

[0020] In some embodiments, a second guide post and a third elastic portion are further included. The charging brush block and the horizontal moving mechanism are horizontally movably connected through the second guide post. The third elastic portion is sleeved on the second guide post and is arranged between the charging brush block and the horizontal moving mechanism.

[0021] In some embodiments, a charging position switch is further included. The charging position switch is arranged between the horizontal movement mechanism and the charging brush block, and is used to detect whether the charging brush block has reached the charging position.

[0022] According to various embodiments of the present disclosure, the second lifting mechanism utilizes the elastic force of the first elastic part to drive the first lifting mechanism and the horizontal moving mechanism to rise and fall as a whole between the first resistance part and the second resistance part. When the first lifting mechanism moves to the first resistance part or the second resistance part, the resistance provided by the resistance part is greater than the maximum elastic force of the first elastic part, so that the second lifting mechanism can overcome the elastic force of the first elastic part and move up and down relative to the first lifting mechanism, that is, move up and down relative to the horizontal moving mechanism at the same time. At this time, the second lifting mechanism directly drives the horizontal moving mechanism through the cam pair to drive the charging brush block to extend outward for charging. The entire structure only requires a single power mechanism to drive the second lifting mechanism to realize the height adjustment action and the charging brush block extension action, and due to the mechanical positioning method of the first resistance part and the second resistance part, the alignment accuracy of the charging brush block at the height position is not affected by the environment.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0025] Figure 1is a schematic diagram of a charging device in one embodiment of the present disclosure;

[0026] Figure 2 is a schematic assembly diagram of a charging device in an embodiment of the present disclosure from a first perspective;

[0027] Figure 3 is a schematic assembly diagram of a charging device in an embodiment of the present disclosure from a second viewing angle;

[0028] Figure 4 is a schematic cross-sectional view of a charging device in one embodiment of the present disclosure;

[0029] Figure 5 is a schematic diagram of a horizontal movement mechanism from a first perspective in one embodiment of the present disclosure;

[0030] Figure 6 is a schematic diagram of a horizontal movement mechanism from a first perspective in one embodiment of the present disclosure;

[0031] Figure 7 is a schematic diagram of a second lifting mechanism in one embodiment of the present disclosure;

[0032] Figure 8 is a schematic diagram of an original state of a charging device in one embodiment of the present disclosure;

[0033] Figure 9 Schematic diagram of the charging device in an extended state in one embodiment of the present disclosure.

[0034] Reference numerals:

[0035] 10: fixed frame; 11: upper stop; 12: lower stop;

[0036] 20: first lifting mechanism; 21: track; 22: guide wheel; 23: first guide post; 24: first elastic portion; 25: horizontal guide surface;

[0037] 30: Second lifting mechanism; 31: V-shaped inner contour surface; 32: Guide wheel; 33: Side extensions; 34: Top and bottom extensions;

[0038] 40: horizontal movement mechanism; 41: V-shaped outer contour surface; 42: second elastic portion; 44: second guide post; 45: third elastic portion;

[0039] 50: charging brush block;

[0040] 60: power mechanism;

[0041] 71: First sensing device; 72: Second sensing device; 73: Charging end switch. DETAILED DESCRIPTION

[0042] The present disclosure will now be discussed with reference to several embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0043] As used herein, the term "including" and its variations are to be interpreted as open-ended terms meaning "including but not limited to." The term "based on" is to be interpreted as "based, at least in part, on." The terms "embodiment" and "one embodiment" are to be interpreted as "at least one embodiment." The term "another embodiment" is to be interpreted as "at least one other embodiment." The terms "first," "second," etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0044] In the following description, some specific numerical values or numerical ranges may be involved. It should be understood that these numerical values and numerical ranges are merely exemplary, which may be helpful in putting the ideas of the present disclosure into practice. However, the description of these examples is not intended to limit the scope of the present disclosure in any way. Depending on specific application scenarios and needs, these numerical values or numerical ranges can be set separately.

[0045] AGV is widely used in scenarios such as warehousing and handling, hotel and restaurant services, and disinfection of medical facilities. In order to clearly describe the structure and working principle of the embodiment of the present disclosure, taking the warehousing and handling scenario as an example, different types of AGVs are used at the same time in the warehousing and handling scenario, and the corresponding charging brush plate height positions are also different. The embodiment of the present disclosure takes the scenario of charging brush plates with two different height positions as an example. The existing technology hopes to provide a charging device that can adjust the height position and extend the charging brush block 50 by relying only on a single power mechanism 60.

[0046] The single-powered, height-adjustable charging device proposed in the embodiment of the present disclosure at least partially solves the above-mentioned problems. Figures 1 to 9 The structure and working principle of the single-power height-adjustable charging device according to the exemplary embodiment of the present disclosure are described. Figure 1-4In general, the charging device of the embodiment of the present disclosure includes a fixed frame 10, a first lifting mechanism 20, a second lifting mechanism 30, a horizontal moving mechanism 40, a charging brush block 50 and a power mechanism 60, wherein the fixed frame 10 is used to support and install other components of the charging device, the first lifting mechanism 20 is arranged in the fixed frame 10, the second lifting mechanism 30 and the horizontal moving mechanism 40 are arranged in the first lifting mechanism 20, the first lifting mechanism 20, the second lifting mechanism 30, and the horizontal moving mechanism 40 can be lifted and moved relative to the fixed frame 10 as a whole, and the second lifting mechanism 30 can be lifted and moved relative to the first lifting mechanism 20. The horizontal moving mechanism 40 can move horizontally relative to the first lifting mechanism 20, and the charging brush block 50 is arranged on the horizontal moving mechanism 40. Only one power mechanism 60 is required to be connected to the second lifting mechanism 30, so that when the power mechanism 60 drives the second lifting mechanism 30 to move up and down, it can drive the first lifting mechanism 20 and the horizontal moving mechanism 40 to move up and down as a whole. When the height position of the first lifting mechanism 20 reaches the first charging height or the second charging height, the first lifting mechanism 20 and the horizontal moving mechanism 40 stop lifting, and the second lifting mechanism 30 continues to lift, and drives the horizontal moving mechanism 40 to extend horizontally to perform the charging action.

[0047] In one embodiment, the fixed frame 10 is provided with a first resistance part and a second resistance part, the height position of the first resistance part corresponds to the first charging height, and the height position of the second resistance part corresponds to the second charging height. The first resistance part and the second resistance part are used to overcome the elastic force of the first elastic part 24 connecting the first lifting mechanism 20 and the second lifting mechanism 30, thereby causing relative lifting movement between the first lifting mechanism 20 and the second lifting mechanism 30.

[0048] In one embodiment, the first resistance part is arranged near the top of the fixing frame 10, and the second resistance part is arranged near the bottom of the fixing frame 10, which can maximize the distance between the first charging height and the second charging height; in another embodiment, the positions of the first resistance part and the second resistance part can also be adjusted according to the different height positions of the two AGV charging brush plates.

[0049] In one embodiment, the first resistance part and the second resistance part are used to provide resistance to the first lifting mechanism 20. The resistance part can be in the form of a stop. For example, the first resistance part is set as an upper stop 11, and the second resistance part is set as a lower stop 12. When the first lifting mechanism 20 moves to the vicinity of the first charging height, it is stopped and limited by the upper stop 11. When the first lifting mechanism 20 moves to the vicinity of the second charging height, it is stopped and limited by the lower stop 12. The stop can completely block the movement of the first lifting mechanism 20, and the form of resistance it provides can be regarded as infinite.

[0050] In another embodiment, the resistance portion may be in the form of a bolt, and the length of the bolt may be adjusted by screwing the bolt to achieve a stopping effect, and the position of the resistance portion may be adjusted.

[0051] In another embodiment, the resistance portion may also be in the form of a pad. By adjusting the number or thickness of the pad, a stopping effect can be achieved, and the position of the resistance portion can be adjusted.

[0052] In another embodiment, the resistance part can also be in the form of a friction pair. For example, a high friction coefficient material such as rubber is provided. When the first lifting mechanism 20 moves to near the charging height, the first lifting mechanism 20 rubs against the high friction coefficient material provided on the fixed frame 10, and the friction force is used to overcome the elastic force of the first elastic part 24.

[0053] In one embodiment, in another embodiment, the resistance form may also be hydraulic or pneumatic pressure. For example, the cylinder body is connected to the fixed frame 10, and the piston rod is connected to the first lifting mechanism 20. When the first lifting mechanism 20 moves toward the charging height, the piston rod is compressed to a lesser extent, and the air pressure is insufficient to overcome the elastic force of the first elastic portion 24. When the first lifting mechanism 20 moves to near the charging height, the piston rod is compressed to a greater extent, and the air pressure is sufficient to overcome the elastic force of the first elastic portion 24. For example, the cylinder piston rod may not be connected to the first lifting mechanism 20. When the first lifting mechanism 20 moves to the charging height, the piston rod and the first lifting mechanism 20 do not contact each other. Only when the first lifting mechanism 20 moves to near the charging height does the piston rod contact and be compressed with the first lifting mechanism 20, and the air pressure overcomes the elastic force of the first elastic portion 24.

[0054] The first lifting mechanism 20 is disposed within the fixed frame 10 and is movable relative to the fixed frame 10 via a first guide portion. In one embodiment, the first guide portion can be in the form of guide wheels 22 cooperating with rails 21. For example, a pair of rails 21 are disposed within the fixed frame 10, and guide wheels 22 are disposed on the top and bottom sides of the first lifting mechanism 20. The guide wheels 22 are embedded in the rails 21 and can move freely along the rails 21. In another embodiment, the guide wheels 22 can be replaced with sliders, which can be slidably engaged with the rails 21.

[0055] In one embodiment, the first lifting mechanism 20 may be a box structure, with horizontal guide surfaces 25 formed on the top, bottom, and side walls of the box, forming the third guide portion described below. In another embodiment, guide rails may be provided on the inside of the top and bottom walls to form the third guide portion.

[0056] The second lifting mechanism 30 is disposed within the first lifting mechanism 20 and is movable relative to the first lifting mechanism 20 via a second guide portion. In one embodiment, the second guide portion may be a first guide post 23 connected between the top and bottom walls of the first lifting mechanism 20. For example, a pair of first guide posts 23 are provided, and the second lifting mechanism 30 is slidably sleeved on both sides of the pair of first guide posts 23, and is movable relative to the first lifting mechanism 20 along the first guide posts 23. In another embodiment, the second guide portion may be formed by a combination of a track and a guide wheel 32, or by a combination of a track and a slider.

[0057] In one embodiment, the first elastic portion 24 is respectively sleeved on the first guide column 23 at the top and bottom of the second lifting mechanism 30. For example, the first elastic portion 24 can be freely sleeved on the first guide column 23, and the second lifting mechanism 30 drives the first lifting mechanism 20 to rise as a whole only by the compression and rebound force of the first elastic portion 24 at the top, and drives the first lifting mechanism 20 to fall as a whole only by the compression and rebound force of the first elastic portion 24 at the bottom; the first elastic portion 24 can also be connected to the first lifting mechanism 20 and the second lifting mechanism 30 at both ends respectively, and the second lifting mechanism 30 drives the first lifting mechanism 20 to rise as a whole by the combined action of the compression and rebound force of the first elastic portion 24 at the top and the tensile and tensile force of the first elastic portion 24 at the bottom, and drives the first lifting mechanism 20 to fall as a whole by the combined action of the compression and rebound force of the first elastic portion 24 at the bottom and the tensile and tensile force of the first elastic portion 24 at the top.

[0058] In one embodiment, Figure 7 As shown, the second lifting mechanism 30 is formed as a whole in a "cross" shape, and the protruding parts 33 on both sides of the "cross" are used to sleeve a pair of first guide pillars 23, and the front sides of the top and bottom protruding parts 34 of the "cross" (close to the charging brush block 50) are used to form a V-shaped inner contour surface 31 to improve the balance of the second lifting mechanism 30 during movement.

[0059] In one embodiment, a power mechanism 60 is disposed at the bottom of the fixed frame 10. Exemplarily, the power mechanism 60 may be an electric push rod, a hydraulic cylinder, a pneumatic cylinder, or a linear motor. For example, the push rod passes through the first lifting mechanism 20 and connects to the second lifting mechanism 30. Exemplarily, the push rod may pass through the bottom of the "cross" top and bottom extensions 34 of the second lifting mechanism 30 and connect to the top of the "cross" top and bottom extensions 34, thereby improving the connection strength during the lifting process.

[0060] like Figure 5 and 6As shown, the horizontal moving mechanism 40 is disposed within the first lifting mechanism 20 and cooperates with the second lifting mechanism 30 via a cam pair. In one embodiment, the horizontal moving mechanism 40 is formed as a frame, and the four sides of the frame cooperate with the horizontal guide surfaces 25 on the inner side of the housing of the first lifting mechanism 20, thereby enabling the horizontal moving mechanism 40 to move horizontally relative to the first lifting mechanism 20. In another embodiment, guide wheels 32 are provided at local positions between the four sides of the horizontal moving mechanism 40 and the horizontal guide surfaces 25. For example, guide wheels 32 are provided at the four corner regions of the horizontal moving mechanism 40. The guide wheels 32 can be arranged vertically or horizontally, or a group of guide wheels 32 can be arranged vertically and horizontally, respectively, thereby achieving smooth relative horizontal movement between the first lifting mechanism 20 and the horizontal moving mechanism 40 in both directions.

[0061] In one embodiment, the horizontal moving mechanism 40 may also be coordinated with the track 21 to achieve relative horizontal movement within the first lifting mechanism 20 .

[0062] In one embodiment, a V-shaped outer contour surface 41 is formed on the rear side of the horizontal movement mechanism 40 (away from the charging brush block 50). The V-shaped outer contour surface 41 cooperates with the V-shaped inner contour surface 31. For example, a roller is provided on the V-shaped inner contour surface 31. When the second lifting mechanism 30 is lifted and lowered relative to the horizontal movement mechanism 40, the roller pushes the horizontal movement mechanism 40 and the charging brush block 50 out for charging via the V-shaped outer contour surface 41. For example, the roller can also be provided on the V-shaped outer contour surface 41, or the roller can be replaced by a raised portion.

[0063] In one embodiment, a second elastic part 42 is further connected between the horizontal moving mechanism 40 and the first lifting mechanism 20. For example, two second elastic parts 42 are respectively connected on both sides of the horizontal moving mechanism 40. When the second lifting mechanism 30 drives the horizontal moving mechanism 40 to extend through the cam pair, the four second elastic parts 42 are stretched and extended. When the second lifting mechanism 30 releases the horizontal thrust through the cam pair, the elongated rebound force of the second elastic part 42 pulls the horizontal moving mechanism 40 back to its position.

[0064] In one embodiment, the charging brush block 50 and the horizontal moving mechanism 40 are connected to each other by a second guide column 44 so as to be able to move closer to and away from each other. For example, four second guide columns 44 are provided at the four corner areas of the charging brush block 50. A third elastic portion 45 is sleeved on the second guide column 44. The third elastic portion 45 is used to provide a compression rebound force between the charging brush block 50 and the horizontal moving mechanism 40, thereby flexibly controlling the distance between the charging device and the AGV.

[0065] In one embodiment, a charge-in-place switch 73 is provided between the charging brush block 50 and the horizontal moving mechanism 40. When the charging brush block 50 contacts the AGV's charging brush plate, the distance between the charging brush block 50 and the horizontal moving mechanism 40 is continuously compressed until the charge-in-place switch 73 contacts the back of the charging brush block 50. This indicates that the charging brush block 50 and the AGV's charging brush plate are firmly in contact, and the control system initiates charging. For example, the charge-in-place switch 73 can be provided on either the horizontal moving mechanism 40 or the charging brush block 50.

[0066] In one embodiment, the mounting frame 10 is provided with a first sensing device 71 and a second sensing device 72 for sensing the AGV's sensing device, thereby respectively identifying whether the charging brush plate of the AGV to be charged is at the first charging height or the second charging height, and further controlling the raising and lowering of the charging device. For example, the sensing device can be an optical communication sensor, an electromagnetic induction sensor, or an image sensor.

[0067] According to the charging device of the embodiment of the present disclosure, Figure 8 and 9As shown, the first lifting mechanism 20 and the second lifting mechanism 30 are both in the middle of the fixed frame 10 in the original state, and the horizontal moving mechanism 40 is in the return state; when the first sensing device 71 senses that the charging brush plate of the AGV to be charged is at the first charging height, the power mechanism 60 drives the second lifting mechanism 30 to rise, and the second lifting mechanism 30 drives the first lifting mechanism 20 to rise through the elastic force of the first elastic part 24. The first lifting mechanism 20 also drives the horizontal moving mechanism 40 to rise. When the guide wheel 22 at the top of the first moving mechanism is blocked by the upper stopper, the second lifting mechanism 30 compresses the first elastic part 24 at the top ( It is also possible to simultaneously stretch the first elastic part 24 at the bottom to continue to rise, the first lifting mechanism 20 stops moving, and the roller of the second lifting mechanism 30 pushes the horizontal moving mechanism 40 to extend horizontally through the V-shaped outer contour surface 41; further, under the elastic force of the third elastic part 45, the horizontal moving mechanism 40 pushes the charging brush block 50 to move toward the AGV. When the charging brush block 50 contacts and docks with the charging brush plate of the AGV, the horizontal moving mechanism 40 continues to extend, causing the third elastic part 45 to be compressed until the charging brush block 50 contacts the charging in place switch 73, thereby judging that the charging brush block 50 is in contact with the AGV charging brush plate. When charging is complete, the power mechanism 60 drives the second lifting mechanism 30 downward. Initially, the first lifting mechanism 20 remains pressed against the upper stop. The second lifting mechanism 30 descends relative to the first lifting mechanism 20, and the roller releases the V-shaped outer contour 41. Under the tensile rebound force of the second elastic portion 42, the first lifting mechanism 20 pulls the horizontal moving mechanism 40 back to its original position. The second lifting mechanism 30 continues to descend, driving the first lifting mechanism 20 downward, until the first lifting mechanism 20, the second lifting mechanism 30, and the horizontal moving mechanism 40 all return to their starting positions. When the second sensing device 72 senses that the charging brush block 50 of the AGV to be charged is at the first charging height, the power mechanism 60 drives the second lifting mechanism 30 downward. The charging device operates in the same manner as at the first charging height.

[0068] The description of the embodiments herein and any references to directions and orientations are for ease of description only and are not to be construed as limiting the scope of the present invention. The following description of the preferred embodiments may involve combinations of features, which may exist independently or in combination. The present invention is not specifically limited to the preferred embodiments. The scope of the present invention is defined by the claims.

[0069] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A single-power height-adjustable charging device for charging two types of AGVs, wherein the two types of AGVs have charging brush plates at a first charging height and a second charging height, respectively, characterized in that: The charging device comprises: A fixed frame (10) is provided with a first resistance portion and a second resistance portion, wherein the first resistance portion corresponds to the first charging height and the second resistance portion corresponds to the second charging height; A first lifting mechanism (20) is arranged in the fixing frame through a first guide portion, so as to be suitable for the first lifting mechanism to move up and down between the first resistance portion and the second resistance portion; a second lifting mechanism (30) disposed in the first lifting mechanism via a second guide portion, the first lifting mechanism and the second lifting mechanism being connected via a first elastic portion, so that the second lifting mechanism drives the first lifting mechanism to move upward and downward between the first resistance portion and the second resistance portion through the elastic force of the first elastic portion; A horizontal moving mechanism (40) is arranged in the first lifting mechanism through a third guide portion, so as to be suitable for the horizontal moving mechanism to move horizontally in the first lifting mechanism, and the second lifting mechanism cooperates with the horizontal moving mechanism through a cam pair; A charging brush block (50) is arranged outside the horizontal moving mechanism; a power mechanism (60), connected to the second lifting mechanism; The resistances encountered by the first lifting mechanism at the first resistance portion position and the second resistance portion position are both greater than the maximum elastic force of the first elastic portion, so that when the first lifting mechanism is at the first resistance portion position and the second resistance portion position, the second lifting mechanism moves up and down relative to the first lifting mechanism, thereby allowing the second lifting mechanism to drive the horizontal moving mechanism to extend outward for charging through the cam pair.

2. The charging device according to claim 1, characterized in that The first resistance portion and the second resistance portion are an upper stopper (11) and a lower stopper (12), respectively. The upper stopper and the lower stopper correspond to a first charging height and a second charging height, respectively.

3. The charging device according to claim 2, characterized in that The first guide portion comprises a track (21) arranged in the fixing frame, and guide wheels (22) are respectively arranged at the top and bottom of the first lifting mechanism, and the guide wheels (22) cooperate with the track (21) so as to be suitable for when the first lifting mechanism (20) is in the first resistance portion position, the top guide wheel (22) is pressed against the upper stopper, and when the first lifting mechanism is in the second resistance portion position, the bottom guide wheel (22) is pressed against the lower stopper.

4. The charging device according to claim 1, wherein: The second guide portion comprises a first guide column (23) arranged in the first lifting mechanism (20); the second lifting mechanism (30) and a first elastic portion (24) are sleeved on the first guide column; and the first elastic portion (24) is arranged between the first lifting mechanism (20) and the second lifting mechanism (30).

5. The charging device according to claim 1, wherein: The third guide portion includes a horizontal guide surface (25) formed on the inner sides of the top wall and the bottom wall of the first lifting mechanism (20), and the horizontal moving mechanism (40) is nested between the inner walls of the first lifting mechanism (20).

6. The charging device according to claim 1, wherein: The cam pair comprises a V-shaped outer contour surface (41) formed on the horizontal moving mechanism (40) and a V-shaped inner contour surface (31) formed on the second lifting mechanism (30); the V-shaped outer contour surface (41) is nested in the V-shaped inner contour surface (31); and the V-shaped outer contour surface (41) and the V-shaped inner contour surface (31) are in contact with each other via a guide wheel (32).

7. The charging device according to claim 1, wherein: The invention also includes a second elastic portion (42), which is connected between the first lifting mechanism (20) and the horizontal moving mechanism (40) to provide the horizontal moving mechanism (40) with an elastic force toward the first lifting mechanism (20).

8. The charging device according to claim 1, wherein: It also includes a first sensing device (71) and a second sensing device (72), wherein the first sensing device (71) and the second sensing device (72) are respectively used to detect the required charging height.

9. The charging device according to claim 1, wherein: The invention also includes a second guide post (44) and a third elastic part (45), wherein the charging brush block (50) and the horizontal moving mechanism (40) are horizontally movably connected via the second guide post (44), and the third elastic part (45) is sleeved on the second guide post (44) and arranged between the charging brush block (50) and the horizontal moving mechanism (40).

10. The charging device according to claim 9, characterized in that It also includes a charging position switch (73), which is arranged between the horizontal movement mechanism (40) and the charging brush block (50) and is used to detect whether the charging brush block (50) is charged to the right position.

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