The discovery of Wireless Power Transfer (WPT) technologies makes charging more convenient and reliable. Among all the existing WPT technologies, directional WPT is more efficient and has been successfully applied to supply energy for wireless rechargeable sensor networks (WRSNs). However, the state-of-the-art methods ignore the anisotropic energy receiving property of rechargeable sensors, resulting in energy wastage. In order to address this issue, in this paper, we point out that the received energy of a sensor is not only relative to the distance, but also relative to the angle between the sensor and the charger's orientation in directional WPT. Towards this end, we derive a pragmatic energy transfer model verified by experiments. In particular, we focus on a Minimal chArging Delay (MAD) problem to reduce chArging delays. To obtain the optimal solution, we formulate the problem as a linear programming problem. Moreover, we introduce a method of charging power discretization, which significantly reduces the search space and bounds the performance gap to the optimal one with a 1/1-ϵ2 approximation ratio. Besides, a merging method is introduced for a more practical application scenario. Finally, we demonstrate that our methods outperform the Set Cover baseline method by an average of 34.2% through simulations and experiments.