CN211045891U

CN211045891U - AGV docking mechanism that charges

Info

Publication number: CN211045891U
Application number: CN201922357760.9U
Authority: CN
Inventors: 林欢庆; 宋诗军
Original assignee: Chengdu Siwi High Tech Industrial Park Co Ltd
Current assignee: Chengdu Siwi High Tech Industrial Park Co Ltd
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2020-07-17
Anticipated expiration: 2029-12-24

Abstract

The utility model discloses an AGV charging docking mechanism, belonging to the technical field of automatic logistics, comprising a charging head and a charging seat, wherein the charging head comprises a charging arm, the charging arm can slide along the X direction, the Y direction and the Z direction, and is respectively provided with a reset mechanism for driving the charging arm to reset in the sliding directions of the X direction, the Y direction and the Z direction, and the end part of the charging arm is provided with a first electrode component; the charging seat is provided with a butt joint port, a second electrode assembly is arranged in the butt joint port, the charging arm is inserted into the butt joint port, and the second electrode assembly is in butt joint with the first electrode assembly to be conductive, so that the purpose that the safety of equipment is improved by adopting an electrode concealed structure, good contact is provided for electrode butt joint by adopting a guide and electrode flexible connection structure, and the phenomena of ignition and overheating are avoided.

Description

AGV docking mechanism that charges

Technical Field

The utility model belongs to the technical field of automatic commodity circulation, an automatic charging of AGV is related to particularly, relates to an AGV docking mechanism that charges.

Background

The power supply of the vehicle-mounted storage battery is a main power supply mode adopted by the AGV, the capacity of the vehicle-mounted storage battery of the AGV is limited, and when the electric quantity is insufficient, the electric quantity is supplemented by adopting a manual charging mode or an automatic charging mode of the AGV. The automatic charging means that the AGV automatically runs to a charging area through a preset program when sensing that the electric quantity of the battery is insufficient, and is in butt joint with an automatic charging device on the ground to realize battery charging. The connection of the AGV and the automatic charging device needs to be realized through a charging docking mechanism. In order to better improve the working efficiency of the AGVs, the AGVs usually use scattered task idle time to charge instead of automatically charging when the power is insufficient, and the charging time is short each time, which requires a large current to obtain enough power in a very short time.

When the AGV docks with ground charging device, because factors such as automobile body load, ground situation, AGV positioning accuracy can cause the counterpoint to be just, the docking mechanism contact that charges is not good, when the heavy current charges, takes place striking sparks, overheated phenomenon easily in the insufficient place of contact.

Meanwhile, the prior technical scheme also has the following problem that the electrodes of the charging butt joint mechanism are exposed outside the charging pile or the AGV body, the exposed electrodes are easy to contact foreign matters to cause short circuit, and the hidden danger of electric shock is also caused when the charging voltage higher than the safe voltage is adopted.

SUMMERY OF THE UTILITY MODEL

In view of this, in order to solve the above-mentioned problem that prior art exists, the utility model aims at providing an AGV charges docking mechanism has improved the security of equipment in order to reach the interior concealed structure of adoption electrode, adopts direction and electrode flexible connection structure to provide good contact for the electrode butt joint, avoids appearing striking sparks, overheated phenomenon's purpose.

The utility model discloses the technical scheme who adopts does: an AGV charging docking mechanism comprises a charging head and a charging seat, wherein the charging head comprises a charging arm, the charging arm can slide along the X direction, the Y direction and the Z direction, resetting mechanisms for driving the charging arm to reset are respectively arranged in the sliding directions of the X direction, the Y direction and the Z direction, and a first electrode assembly is arranged at the end part of the charging arm; the charging seat is provided with a butt joint port, a second electrode assembly is arranged in the butt joint port, and the charging arm is inserted into the butt joint port and enables the second electrode assembly to be in butt joint with the first electrode assembly to be conductive.

Furthermore, the charging head comprises an X-direction sliding assembly, a Y-direction sliding assembly arranged on the X-direction sliding assembly and a Z-direction sliding assembly arranged on the Y-direction sliding assembly, the Z-direction sliding assembly comprises the charging arm, and the charging arm can move along the X direction, the Y direction or the Z direction respectively or simultaneously under the mutual matching of the X-direction sliding assembly, the Y-direction sliding assembly and the Z-direction sliding assembly.

Further, the X-direction sliding assembly comprises a transverse sliding bearing arranged in the X-direction in a sliding mode, and two ends of the transverse sliding bearing are respectively provided with a transverse spring providing a reset acting force for the transverse sliding bearing, so that when the charging arm is inserted into the butt joint port, the charging arm can be reset under the action of the transverse spring when the X-direction slides to adjust the butt joint position and the external force disappears.

Furthermore, the charging head further comprises a back plate and a transverse guide shaft arranged on the back plate along the X direction, the transverse sliding bearing and a transverse spring are sleeved on the transverse guide shaft, sliding is realized by adopting the transverse guide shaft and the transverse sliding bearing, and the movement of the sliding process is reliable.

Further, Y is to slip subassembly including the sliding seat that sets up along Y to sliding, and at least one end is equipped with the vertical spring that provides the effort of reseing to it in the both ends of this sliding seat to when realizing charging arm and inserting the interface, can slide in Y to adjust the butt joint position and when the external force disappears, can reseed under vertical spring's effect.

Furthermore, the Y-direction sliding assembly also comprises a vertical guide shaft arranged on the transverse sliding bearing along the Y direction, and the sliding seat and the vertical spring are sleeved on the vertical guide shaft;

the vertical guide shaft is sleeved with a vertical sliding bearing, an elastic sleeve is sleeved outside the vertical sliding bearing, and the vertical sliding bearing is assembled and connected with the sliding seat through the elastic sleeve;

the sliding seat is assembled in an elastic sleeve mode, the elastic sleeve can deform under the action of external force, so that the sliding seat can generate relative torsional motion in all directions, and after the external force disappears, the sliding seat can automatically reset under the action of the elastic force.

Further, the arm that charges is located along Z to sliding on the sliding seat and the one end of the arm that charges is equipped with the balancing weight, is connected with flexible extension spring between balancing weight and the sliding seat, in order to balance the focus position of the arm that charges under the effect of balancing weight, makes the arm that charges under the free state can keep the level, simultaneously, under extension spring's effect, also can order about the arm that charges and can reset automatically.

Furthermore, the charging arm comprises an arm body and a first electrode assembly arranged in the arm body, the first electrode assembly comprises an electrode female head, a flexible sleeve is sleeved outside the electrode female head and sleeved in the arm body through the flexible sleeve, an end block is arranged at the end part of the arm body and is locked and fixed on the electrode female head through the end block, and therefore the end block can be designed to lock and fix the electrode female head; on the other hand, the electrode socket can play a role in guiding when being inserted into the interface, and the flexible sleeve can play a good role in buffering the electrode female head.

Further, the bilateral symmetry of the arm body is provided with the spout, all sets the slider in each spout and makes the arm body follow Z to sliding motion through each slider, under the mating reaction of spout and slider, can realize that the arm body upwards carries out sliding motion at Z.

Furthermore, the charging seat comprises a shell and a second electrode assembly arranged in the shell, the second electrode assembly comprises an electrode male head, the shell is provided with the butt joint port, and the butt joint port is of a horn-shaped structure, so that the charging arm can be smoothly inserted into the butt joint port; the outer sleeve of the electrode male head is sleeved with a flexible sleeve and sleeved inside the butt joint port through the flexible sleeve, a pressing block is arranged at the end part of the shell and is used for locking and fixing the electrode male head through the pressing head, and the flexible sleeve can play a good buffering role on the electrode male head.

The utility model has the advantages that:

1. adopt the utility model provides a AGV docking mechanism that charges, it is through to charging the arm at the butt joint in-process along X to, Y to leading to with Z, at the interface of cooperation on the charging seat, can order about the arm that charges and insert and carry out good butt joint on the charging seat, when the butt joint, can solve because of AGV's motion is not very accurate, when AGV moves to charging pile department and docks, position error and angle error on the automatic correction horizontal direction, realize that good butt joint is electrically conductive and accomplish charging of AGV.

Drawings

Fig. 1 is a schematic diagram of an overall structure of a charging head in an AGV charging docking mechanism according to the present invention;

FIG. 2 is a schematic diagram of an overall structure of a charging seat in the AGV charging docking mechanism according to the present invention;

FIG. 3 is a schematic front view of a charging head of an AGV charging docking mechanism according to the present invention;

FIG. 4 is a schematic top view of a charging head of an AGV charging docking mechanism according to the present invention;

FIG. 5 is a schematic diagram of an internal structure of a charging arm of the AGV charging docking mechanism according to the present invention;

FIG. 6 is a schematic diagram of a front structure of a charging seat in an AGV charging docking mechanism according to the present invention;

FIG. 7 is a schematic diagram of an internal structure of a charging seat in the AGV charging docking mechanism according to the present invention;

FIG. 8 is a schematic structural diagram of an AGV charging docking mechanism provided by the present invention before docking;

FIG. 9 is a schematic diagram of the AGV charging docking mechanism according to the present invention after docking;

the drawings are labeled as follows:

1-cross shaft connecting piece, 2-vertical sliding bearing, 3-sliding block, 4-horizontal sliding bearing, 5-horizontal spring, 6-horizontal guiding shaft, 7-back plate, 8-vertical guiding shaft, 9-sliding seat, 10-charging arm, 11-vertical shaft connecting piece, 12-vertical spring, 13-elastic sleeve, 14-balancing weight, 15-expansion spring, 16-electrode female head, 17-end block, 18-flexible sleeve, 19-wiring cavity, 20-cover plate, 21-arm body, 22-sliding groove, 23-wire outlet hole, 24-electrode male head, 25-pressing block, 26-tail block, 27-wire pressing screw, 28-shell and 29-contact piece.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that the indication of the position or the positional relationship is based on the position or the positional relationship shown in the drawings, or the position or the positional relationship that the utility model is usually placed when using, or the position or the positional relationship that the skilled person conventionally understands, or the position or the positional relationship that the utility model is usually placed when using, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or suggest that the indicated device or element must have a specific position, be constructed and operated in a specific position, and thus, cannot be understood as limiting the present invention. Furthermore, the terms "first" and "second" are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases for a person of ordinary skill in the art; the drawings in the embodiments are provided to clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Example 1

The utility model provides a AGV docking mechanism that charges in this embodiment, including charging head and charging seat, because AGV is at the operation in-process, need charge in order continuously to guarantee its duration, in current technique, mostly be the adoption and charge to accomplish between charging head and the charging seat and charge, and often can appear counterpointing just in charging head and charging seat docking process, the butt joint contact condition such as not good of charging, the head that charges is installed in the electric pile that fills on ground, and the charging seat is installed on AGV, for this, do the following knot and improve:

the charging head comprises a charging arm 10, when the charging arm 10 needs to be inserted into a charging seat, the charging arm 10 can slide along the X direction, the Y direction and the Z direction to carry out accurate alignment, resetting mechanisms for driving the charging arm 10 to reset are respectively arranged in the sliding directions of the X direction, the Y direction and the Z direction, so that after the external force action on the charging arm 10 disappears, the charging arm 10 can reset in the X direction, the Y direction and the Z direction under the action of the resetting mechanisms, a first electrode assembly is arranged at the end part of the charging arm 10 and is used for being connected with a charging pile installed on the ground to supply power; the charging seat is provided with a butt joint port, a second electrode assembly is arranged in the butt joint port, the second electrode assembly is used for connecting a charging circuit in the AVG so as to charge the AVG, the charging arm 10 is inserted into the butt joint port and enables the second electrode assembly to be in butt joint with the first electrode assembly to be conductive, and after the first electrode assembly and the second electrode assembly are mutually connected, the AVG can be conducted with the charging pile, so that charging continuation of the AVG can be realized.

In the present embodiment, to realize that the charging arm 10 can slide in the X direction, the Y direction and the Z direction to adjust the docking, the following design is adopted: the charging head comprises an X-direction sliding assembly, a Y-direction sliding assembly arranged on the X-direction sliding assembly and a Z-direction sliding assembly arranged on the Y-direction sliding assembly, wherein the Z-direction sliding assembly comprises the charging arm 10, under the mutual matching of the X-direction sliding assembly, the Y-direction sliding assembly and the Z-direction sliding assembly, the charging arm 10 can move along the X direction, the Y direction or the Z direction respectively or simultaneously, and the X direction, the Y direction and the Z direction are in mutually perpendicular states. Of course, this structure is only a preferable technical solution of this embodiment, and the charging arm 10 may be connected in the X direction and the Y direction by elastic rubber, or may be slid in the X direction and the Y direction by deformation of the elastic rubber, and the accuracy of the sliding is not as preferable in this embodiment.

Based on the above, for promoting the sliding precision in the X direction, the X direction sliding assembly includes the transverse sliding bearing 4 that sets up along the X direction slip, and the both ends of this transverse sliding bearing 4 are equipped with the transverse spring 5 that provides the effort of restoring to the throne respectively, after transverse sliding bearing 4 slides left or right, all can realize the automatic re-setting of transverse sliding bearing 4 under the effect of transverse spring 5, and then when realizing charging arm 10 inserts the interface, can restore to the throne under the effect of transverse spring 5 when the X direction slides in order to adjust the butt joint position and when the external force disappears. In order to further guarantee the stability in the sliding process, the charging head further comprises a back plate 7 and transverse guide shafts 6 arranged on the back plate 7 along the X direction, the transverse guide shafts 6 are arranged on the back plate 7 in parallel along the Y direction, two ends of each transverse guide shaft 6 are fixed through transverse shaft connecting pieces 1, and the transverse shaft connecting pieces 1 on two sides are fixed on the back plate 7 and are connected with the back plate 7 through screws. Two all the cover has on the horizontal direction axle 6 horizontal slide bearing 4 and the horizontal direction axle 6 that is located the top has horizontal spring 5 (in practical application in-process, also can all overlap horizontal spring 5 on two horizontal direction axles 6) to impel horizontal slide bearing 4 can freely slide on horizontal direction axle 6, simultaneously, can impel horizontal slide bearing 4 can automatic re-setting under the effect of horizontal spring 5, adopt horizontal direction axle 6 and horizontal slide bearing 4's mode to realize sliding, its slip process motion is reliable, also can adopt other modes to replace, for example: the dovetail groove structure is realized in a free sliding mode, and the like, and the examples are not given.

Based on the above, in order to realize the sliding precision in the Y direction, the Y-direction sliding assembly includes a sliding seat 9 arranged to slide along the Y direction, the lower end of the sliding seat 9 is provided with a vertical spring 12 providing a restoring acting force to the sliding seat 9, one end of the vertical spring 12 is connected to the sliding seat 9, the other end is connected to a vertical shaft connecting part 11, after the sliding seat 9 slides upwards or downwards, the sliding seat 9 can be restored under the action of the vertical spring 12 (it is also possible to contact the two ends of the vertical spring 12 with the sliding seat 9 and the vertical shaft connecting part 11 respectively, and during restoration, the restoring is realized through the acting force of gravity or the vertical spring 12), so that when the charging arm 10 is inserted into the docking port, the charging arm can be restored under the action of the vertical spring 12 when the Y direction slides to adjust the docking position and the external force disappears, in this embodiment, only one end of the sliding seat 9 is connected with the vertical spring 12, it is of course also possible to have vertical springs 12 at both ends, the vertical springs 12 at both ends providing the restoring force, respectively.

Y is still including locating along Y to sliding assembly vertical guide shaft 8 on the horizontal slide bearing 4, this vertical guide shaft 8 is equipped with two and is parallel arrangement along X to being two vertical guide shaft 8's both ends all are connected with vertical shaft connecting piece 11, and vertical shaft connecting piece 11 is then fixed connection on horizontal slide bearing 4 to realize vertical guide shaft 8 and stride across two between the horizontal slide bearing 4 the cover has on the vertical guide shaft 8 sliding seat 9 and vertical spring 12, sliding seat 9 can be followed Y on vertical guide shaft 8 and to freely slide to provide the effort that resets under vertical spring 12's effect.

In order to further improve the charging arm 10, when butt joint insertion is carried out on a butt joint port, better adaptation can be achieved, a vertical sliding bearing 2 is sleeved on the vertical guide shaft 8 so as to reduce the sliding friction force of the sliding seat 9 on the vertical guide shaft 8 through the vertical sliding bearing 2, an elastic sleeve 13 is sleeved outside the vertical sliding bearing 2, and the vertical sliding bearing 2 is assembled and connected with the sliding seat 9 through the elastic sleeve 13; adopt the mode assembly of elastic sleeve 13, under the exogenic action, elastic sleeve 13 can produce and warp, makes sliding seat 9 produce the relative torsional motion in all directions to prevent at the butt joint initial stage, because the deviation between charging seat and the head that charges is great, the buffering can not lead to the fact the damage of charging arm 10, after the exogenic action disappears, sliding seat 9 can automatic re-setting again under the elasticity effect, elastic sleeve 13 is made by the elastic rubber material who has certain elastic force.

For realizing that arm 10 that charges can atress balanced in the use, will arm 10 that charges locates along Z to sliding on sliding seat 9 and the one end of charging arm 10 is equipped with balancing weight 14, is connected with flexible extension spring between balancing weight 14 and the sliding seat 9, in order to balance the focus position of charging arm 10 under balancing weight 14's effect, arm 10 that charges under the messenger free state can keep the level, simultaneously, under extension spring 15's effect, can order about arm 10 that charges after the exogenic force disappears on the one hand can automatic re-setting, on the other hand after the butt joint is accomplished, extension spring 15 can make arm 10 that charges can be firm pegged graft on the electrode of charging seat. In this embodiment, pass through bolted connection with the one end of balancing weight 14 on the tip of charging arm 10, and be equipped with in the both sides of balancing weight 14 expanding spring 15, expanding spring 15's the other end is connected on sliding seat 9 to the realization provides the effort that resets through expanding spring 15 to charging arm 10.

Under the mutual cooperation of the designed X-direction sliding assembly, the designed Y-direction sliding assembly and the designed Z-direction sliding assembly, the working principle is as follows:

under the action of the outward force of X, the transverse sliding bearing 4 can transversely move along the transverse guide shaft 6, and after the outward force of X disappears, the transverse sliding bearing 4 is restored to a balance position under the action of the two transverse springs 5;

under the action of the Y outward force, the vertical sliding bearing 2 can vertically move along the vertical guide shaft 8, and after the Y outward force disappears, the vertical sliding bearing 2 is restored to a balance position under the action of the vertical spring 12 and gravity;

under the action of Z outward force, the charging arm 10 can perform telescopic motion along the slide block 3, and after the Z outward force disappears, the charging arm returns to an initial state under the action of a telescopic tension spring;

under the action of other external force, the elastic sleeve 13 deforms, so that the sliding seat 9 generates relative twisting motion in all directions, and after the external force disappears, the sliding seat 9 restores to the initial position under the action of the elastic force.

The charging arm 10 includes an arm body 21 and a first electrode assembly disposed in the arm body 21, and the arm body 21 is made of aluminum or other conductive materials. The first electrode assembly comprises an electrode female head 16, a flexible sleeve 18 is sleeved outside the electrode female head 16 and is arranged in an arm body 21 through the flexible sleeve 18, an end part 17 is arranged at the end part of the arm body 21 and is locked and fixed on the electrode female head 16 through the end part 17, so that the end part 17 can be used for locking and fixing the electrode female head 16 on one hand and the material of the end part 17 is nylon or other harder insulating materials; on the other hand, the end block 17 is provided with a chamfer to facilitate insertion into the interface for good guidance, while the flexible sleeve 18 provides good cushioning of the electrode female head 16 and the flexible sleeve 18 is made of teflon or other softer insulating material. Still be equipped with wiring chamber 19 in this arm body 21, the one end in wiring chamber 19 with female head 16 of electrode communicates (promptly the one end of the female head 16 of electrode stretches into to wiring chamber 19 in to the female head 16 of electrode is worked a telephone switchboard), and the other end is connected with wire outlet 23, and this wire outlet 23 extends to the outside of arm body 21 (is used for carrying out the circuit with external equipment/device and communicates), still is equipped with apron 20 in the top of wiring chamber 19 to the wiring of wiring chamber 19 inside carries out good protection.

In order to enable the arm body 21 to slide freely relative to the slide base 9, slide grooves 22 are symmetrically provided on both sides (upper and lower sides in the drawing) of the arm body 21, the slide blocks 3 are disposed in the slide grooves 22, the arm body 21 is caused to slide in the Z direction by the slide blocks 3, the slide blocks 3 are fitted to the slide base 9 so that the slide of the arm body 21 is guided and limited by the slide blocks 3, and the arm body 21 can be caused to slide in the Z direction by the cooperation between the slide grooves 22 and the slide blocks 3.

The charging seat comprises a shell 28 and a second electrode assembly arranged in the shell 28, the second electrode assembly comprises an electrode male head 24, the shell 28 is provided with the butt joint port, and the butt joint port is of a horn-shaped structure, preferably, the horn-shaped structure adopts an appearance that the internal horizontal opening angle is 90 degrees and the vertical opening angle is 60 degrees, so that the charging arm 10 can be smoothly inserted into the butt joint port; the outer part of the electrode male head 24 is sleeved with a flexible sleeve 18 and is arranged in the butt joint port through the flexible sleeve 18, the end part of the shell 28 is provided with a pressing block 25 and is locked and fixed to the electrode male head 24 through the pressing head, the flexible sleeve 18 can play a good buffering role on the electrode male head 24, and the flexible sleeve 18 is made of polytetrafluoroethylene or other soft insulating materials.

One part of the butt joint is in a horn-shaped structure, the other part of the butt joint is a notch matched with the charging arm 10, the bottom of the notch is provided with the electrode male head 24, the electrode male head 24 is arranged on the shell 28 through the flexible sleeve 18, the electrode male head 24 is tightly pressed by the pressing block 25, the tail part of the electrode male head 24 is provided with the wire pressing screw 27 and the wire passing hole, the wire pressing screw can be connected with a lead, the tail part of the charging seat is also provided with the tail block 26, the wiring part of the electrode male head 24 is well protected through the tail block 26, and the shell 28, the pressing block 25 and the tail block 26 are made of nylon or other hard insulating materials.

In order to discharge static electricity, a contact piece 29 is further installed on the housing 28, and can contact with the arm body 21 of the charging arm 10 to discharge static electricity, and the electrode male 24 and the contact piece 29 are made of copper or other conductive materials.

The present invention is not limited to the above-mentioned optional embodiments, and any other products in various forms can be obtained by anyone under the teaching of the present invention, and any changes in the shape or structure thereof, all the technical solutions falling within the scope of the present invention, are within the protection scope of the present invention.

Claims

1. An AGV charging docking mechanism comprises a charging head and a charging seat, and is characterized in that the charging head comprises a charging arm, the charging arm can slide along the X direction, the Y direction and the Z direction, resetting mechanisms for driving the charging arm to reset are respectively arranged in the sliding directions of the X direction, the Y direction and the Z direction, and a first electrode assembly is arranged at the end part of the charging arm; the charging seat is provided with a butt joint port, a second electrode assembly is arranged in the butt joint port, and the charging arm is inserted into the butt joint port and enables the second electrode assembly to be in butt joint with the first electrode assembly to be conductive.

2. The AGV charging docking mechanism of claim 1, wherein the charging head includes an X-slide assembly, a Y-slide assembly mounted on the X-slide assembly, and a Z-slide assembly mounted on the Y-slide assembly, the Z-slide assembly including the charging arm.

3. The AGV charging docking mechanism of claim 2, wherein the X-slide assembly includes a transverse slide bearing slidably disposed along the X-direction, and a transverse spring is disposed at each end of the transverse slide bearing for providing a restoring force thereto.

4. The AGV charging docking mechanism of claim 3, wherein said charging head further comprises a back plate and a lateral guide shaft disposed on said back plate in the X direction, said lateral guide shaft being sleeved with said lateral sliding bearing and lateral spring.

5. The AGV charging docking mechanism of claim 3, wherein the Y-slide assembly includes a slide base slidably disposed in the Y-direction, at least one of the ends of the slide base having a vertical spring disposed thereon for providing a return force thereto.

6. The AGV charging docking mechanism of claim 5, wherein the Y-slide assembly further comprises a vertical guide shaft disposed on the transverse slide bearing along the Y-direction, the slide mount and a vertical spring being sleeved on the vertical guide shaft;

the vertical guide shaft is sleeved with a vertical sliding bearing, the outside of the vertical sliding bearing is sleeved with an elastic sleeve, and the vertical sliding bearing is assembled and connected with the sliding seat through the elastic sleeve.

7. The AGV charging docking mechanism of claim 5, wherein the charging arm is slidably disposed on the sliding seat along the Z direction, a weight block is disposed at one end of the charging arm, and a tension spring is connected between the weight block and the sliding seat.

8. The AGV charging docking mechanism of claim 1, 2 or 7, wherein the charging arm comprises an arm body and a first electrode assembly disposed in the arm body, the first electrode assembly comprises a female electrode head, the female electrode head is externally sleeved with a flexible sleeve and is mounted in the arm body through the flexible sleeve, and an end block is disposed at an end of the arm body and is locked and fixed to the female electrode head through the end block.

9. The AGV charging docking mechanism of claim 8, wherein sliding grooves are symmetrically formed on both sides of the arm body, and a sliding block is provided in each sliding groove, and the arm body is slidably moved in the Z direction by the sliding blocks.

10. The AGV charging docking mechanism of claim 1, wherein the charging dock includes a housing and a second electrode assembly disposed within the housing, the second electrode assembly including a male electrode, the housing defining the docking interface and the docking interface having a horn configuration; the outer part of the electrode male head is sleeved with a flexible sleeve and sleeved inside the butt joint port through the flexible sleeve, and the end part of the shell is provided with a pressing block and is locked and fixed to the electrode male head through the pressing head.