Wireless charging mechanical arm device for recycling underwater equipment

Abstract

The invention provides a wireless charging mechanical arm device for recycling underwater equipment. And the mechanical arm assembly drives the mechanical claw to monitor and grab the underwater equipment. And the shell is connected to a mounting plate made of a magnetic material on the mechanical arm through a spring telescopic mechanism. The deformable storage bag and the shell form a sealed cavity, the tile-shaped transmitting end magnetic core and the transmitting end coil are located in the cavity, and the medium charging and discharging device stores an insulating medium, charges the medium into the cavity after the transmitting end and the receiving end are aligned to enable the storage bag to deform so as to discharge seawater in a coil coupling area, and discharges the medium after the receiving end coil leaves. The distance and angle between the transmitting end and the receiving end can be adjusted by changing the power of the electromagnet on the shell. Accurate alignment of the transmitting end and the receiving end can be achieved, the relative positions of the transmitting end and the receiving end can be kept unchanged all the time in the charging process, the underwater wireless electric energy transmission efficiency is improved, and the charging time cost is saved. In addition, seawater in a coil coupling area can be discharged through the deformable storage bag, and the electric energy transmission efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of wireless charging of underwater equipment, and in particular relates to a wireless charging mechanical arm device for recovering underwater equipment. Background Art

[0002] With the rapid development of underwater wireless power transmission technology, it has gradually become a widely used power supply method for underwater equipment such as unmanned submersibles and buoys.

[0003] At present, when underwater equipment uses underwater wireless charging base stations to replenish power, it usually relies on the underwater equipment to autonomously approach the transmitting coil fixed at the base station and connect the transmitting end and the receiving end, and then start power transmission. During the charging process, the underwater equipment is in a free state, and the receiving coil and the transmitting coil are not completely fitted, and there is seawater between them. In this case, in some areas with complex sea conditions, the underwater equipment is easily affected by the flow of seawater during the power transmission process and rotates, deviates, etc., resulting in the following problems in the current wireless power transmission of underwater equipment using underwater wireless charging base stations: First, it is difficult to accurately align the underwater transmitting end and the receiving end, and during the wireless power transmission process, it is difficult for the transmitting end and the receiving end to be accurately aligned for a long time, resulting in low power transmission efficiency of the base station and high time cost of equipment charging; second, the presence of conductive seawater in the working distance between the receiving coil and the transmitting coil will cause the high-frequency alternating electromagnetic field excited by the transmitting coil to generate eddy current loss in the coil coupling area, resulting in reduced wireless power transmission efficiency and long charging time. Summary of the invention

[0004] The purpose of the present invention is to solve the problems in the prior art that the wireless power transmission efficiency is low and the charging time is long when underwater equipment uses a wireless charging base station to replenish power, and to provide an underwater equipment recovery wireless charging mechanical arm device.

[0005] To achieve the above purpose, the technical solution provided by the present invention is:

[0006] A wireless charging mechanical arm device for underwater equipment recovery, used to connect to an underwater wireless charging base station to dock with underwater equipment for wireless charging, comprising a mechanical arm assembly, a mechanical claw, a transmitting end coil assembly, a storage bag, a medium charger and discharger, and four electromagnets and four spring telescopic mechanisms;

[0007] The robotic arm assembly can drive the robotic claw to monitor and grab underwater equipment and is fixed to the base station;

[0008] The transmitting end coil assembly comprises a shell, a transmitting end magnetic core and a transmitting end coil. The shell is connected to a mounting plate made of magnetic material on a mechanical arm in the transmitting end coil assembly through a spring expansion mechanism. The transmitting end magnetic core is in a tile shape and fixed to the shell. The transmitting end coil is laid on the transmitting end magnetic core and is used to align with the receiving end coil arranged on the underwater equipment to perform electromagnetic coupling and charge the underwater equipment.

[0009] The storage capsule is deformable and fixedly connected to the shell to form a sealed chamber, the transmitting end magnetic core and the transmitting end coil are located in the chamber, and the medium charging and discharging device is installed on the mounting plate, and is used to store the insulating medium and fill the insulating medium into the chamber after the transmitting end coil is aligned with the receiving end coil to deform the storage capsule and discharge the seawater in the coil coupling area, and discharge the filled insulating medium after the receiving end coil leaves so that the storage capsule recovers its deformation;

[0010] The electromagnets and spring expansion mechanisms are evenly distributed at the four corners of the shell in a one-to-one correspondence, and the spring expansion mechanism is connected to the mounting plate, which is used to change the working power of the electromagnet to move the shell with the help of compression or extension of the spring, thereby adjusting the distance and angle between the transmitting end coil and the receiving end coil.

[0011] Furthermore, the insulating medium is insulating oil or insulating gas.

[0012] Furthermore, the medium charger and discharger includes a storage tank, a pump and two conduits. The storage tank and the pump are respectively arranged on both sides of the mounting plate, and the pump is located between the shell and the mounting plate. The two conduits respectively connect the pump and the storage tank and the pump and the storage bag.

[0013] Furthermore, the robotic arm assembly also includes a wheel for fixing to the base station and four steering gears for realizing the movement of the robotic claw.

[0014] Furthermore, each spring expansion and contraction mechanism includes a screw, a nut, a spring and a positioning column. The screw passes through the shell and is fixed to the shell by the nut. The screw is provided with an axial hole. One end of the positioning column is inserted into the axial hole and the other end is fixedly connected to the mounting plate. The spring is sleeved on the positioning column and its two ends are respectively fixedly connected to the screw and the mounting plate.

[0015] Furthermore, the mechanical claw includes two rotating shafts and three hooks which are sleeved on each rotating shaft and can rotate together with the rotating shafts.

[0016] The advantages of the present invention are:

[0017] The underwater equipment recovery wireless charging mechanical arm device of the present invention is used to cooperate with the underwater wireless charging base station to perform wireless power transmission on the underwater equipment. The mechanical arm in the device can drive the mechanical claw to grab the underwater equipment. The change of the working power of the electromagnet can control the spring telescopic mechanism to adjust the distance and angle between the transmitting end coil and the receiving end coil, so that the transmitting end coil laid on the tile-shaped transmitting end magnetic core is concentric with the receiving end coil, and the transmitting end and the receiving end are ensured to be accurately aligned. Therefore, the device of the present invention can not only achieve accurate alignment between the transmitting end and the receiving end, but also always keep the relative position of the transmitting end and the receiving end unchanged during the charging process of the underwater equipment, thereby improving the underwater wireless power transmission efficiency of the equipment and saving the charging time cost. In addition, the device is also provided with a deformable storage capsule. After the transmitting end coil is aligned with the receiving end coil, the storage capsule is filled with an insulating medium and deformed and expanded, and the seawater in the coil coupling area is discharged, so that there is almost no eddy current loss in the coil coupling area, thereby improving the power transmission efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or other features and advantages of the present invention will become more easily understood through the following description with reference to the accompanying drawings, which are not drawn to scale and some features are exaggerated or reduced to show details of specific components. In the accompanying drawings:

[0019] Figure 1 is a schematic three-dimensional diagram of the underwater equipment recovery wireless charging mechanical arm device of the present invention;

[0020] Figure 2 is a schematic stereoscopic diagram of the underwater equipment recovery wireless charging mechanical arm device of the present invention when the storage bag is not filled with an insulating medium during use;

[0021] Figure 3A It is a schematic stereoscopic diagram of the underwater equipment recovery wireless charging mechanical arm device of the present invention, in which the storage bag is filled with an insulating medium during use, wherein the mechanical arm assembly, mechanical claw, medium charger and spring retracting mechanism are omitted;

[0022] Figure 3B is a schematic cross-sectional view of the underwater equipment recovery wireless charging mechanical arm device of the present invention, in which the storage bag is filled with an insulating medium during use;

[0023] Figure 4 is a schematic three-dimensional diagram of the mechanical claw of the present invention;

[0024] Figure 5 is a structural cross-sectional view of the transmitting end coil assembly and the storage capsule in the present invention;

[0025] Figure 6 The transmitting end coil assembly and the storage capsule are along Figure 5 A cross-sectional view of the structure taken along line BB;

[0026] Figure 7 The installation structure of the medium charging and discharging device, the electromagnet and the spring expansion and contraction mechanism in the present invention is shown;

[0027] Figure 8 is a cross-sectional view of the spring telescopic mechanism of the present invention;

[0028] Fig. 9 It is a working flow chart of the underwater equipment recovery wireless charging mechanical arm device of the present invention.

[0029] In the figure: 1-mechanical arm assembly, 11-wheel, 12-servo, 13-mounting plate; 2-mechanical claw, 21-rotating shaft, 22-hook; 3-transmitter coil assembly, 31-shell, 32-transmitter magnetic core, 33-transmitter coil; 4-storage bag, 41-chamber; 5-medium charger and discharger, 51-storage tank, 52-pump, 53-first conduit, 54-second conduit; 6-electromagnet; 7-spring telescopic mechanism, 71-screw, 710-axial hole, 72-nut, 73-spring, 74-positioning column; 100-underwater equipment. DETAILED DESCRIPTION

[0030] The present invention will be described in detail below with reference to the accompanying drawings by means of exemplary embodiments of the present invention. It should be noted that the following detailed description of the present invention is only for the purpose of illustration, and is not intended to limit the present invention.

[0031] The present invention provides a wireless charging mechanical arm device for recovering underwater equipment, which is used to be connected to an underwater wireless charging base station to dock with underwater equipment, such as a rotating body UUV, for wireless charging. The receiving end is arranged on the underwater equipment, and the transmitting end is arranged on the device. When the underwater equipment needs power replenishment, the two are docked to realize wireless power transmission. The wireless charging mechanical arm device of the present invention can replace the traditional charging method of the UUV actively docking with the base station, integrate the wireless charging and grasping of the underwater equipment, ensure that the transmitting end and the receiving end are precisely aligned during the charging process, and at the same time, the seawater in the coil coupling area can be discharged to minimize the eddy current loss and improve the efficiency of wireless power transmission.

[0032] First, the overall reference Figures 1 to 3BAs an exemplary embodiment of the present invention, the underwater equipment recovery wireless charging robot arm device includes a robot arm assembly 1, a robot claw 2, a transmitting end coil assembly 3, a storage capsule 4, a medium charger and discharger 5, four electromagnets 6 and four spring expansion and contraction mechanisms 7. The robot arm assembly 1 can drive the robot claw 2 to monitor and grasp the underwater equipment 100, so that the receiving end on the equipment can be docked with the transmitting end in the device of the present invention. The transmitting end coil assembly 3 includes a shell 31, a transmitting end magnetic core 32 and a transmitting end coil 33. The transmitting end coil 33 is used to align with the receiving end coil set on the underwater equipment 100 to perform electromagnetic coupling and charge the underwater equipment 100. The storage capsule 4 is deformable and is used to fill and discharge insulating media. After the charging docking is completed, it is located between the receiving end coil and the receiving end coil. When the medium is filled, the seawater between the two is squeezed out, such as Figure 3A and Figure 3B As shown, after charging is completed, the medium is discharged and the deformation is restored. The electromagnet 6 and the spring expansion mechanism 7 can cooperate to adjust the distance and angle between the transmitting end coil 33 and the receiving end coil so that the two are concentric and accurately aligned.

[0033] The manipulator assembly 1 is fixed to the base station to realize the installation and fixation of the device, and is provided with a mounting plate 13 to realize the installation and fixation of related components such as the transmitting end coil assembly 3, the storage capsule 4 and the medium charger 5. The mounting plate 13 is made of magnetic material to interact with the electromagnet 6, which will be described in detail later. The manipulator assembly 1 can be a six-degree-of-freedom underwater operation manipulator, and the rotation of the six joints is realized by a digital servo. At the same time, an angle sensor is installed at each joint to measure the rotation angle of each joint, and the control of the manipulator assembly can be realized by known mature technology. The reason why the manipulator adopts six degrees of freedom is that it is more convenient to perform posture calculation on the manipulator with six degrees of freedom; the manipulator with six degrees of freedom can better complete tasks in complex underwater environments compared with the manipulator with low degrees of freedom. In particular, the manipulator assembly 1 includes a wheel 11 for fixing to the base station and four servos 12 for realizing the movement of the mechanical claw 2. The reasons why the robotic arm uses digital servos for joint drive are: 1. Compared with motors, servos are easier to achieve waterproofness and have better waterproof effects at a lower cost; 2. Because the robotic arm is inverted relative to the underwater equipment during operation and is affected by buoyancy in the water, the rotational torque of the robotic arm at the supporting joint is not as large as on land, and a servo with a suitable rotational torque can also be driven well; 3. The servo is lighter than the motor, which helps to reduce the overall weight of the robotic arm and facilitates underwater operations; 4. The control accuracy of the servo is not much different from that of the motor, but the control logic is simpler and more convenient to control.

[0034] The mechanical claw 2 is fixedly connected to the mechanical arm assembly 1, and is used to move under the drive of the mechanical arm and grasp and fix the underwater equipment that is close to the base station for charging. The structure of the mechanical claw 2 is not subject to specific restrictions, but the shape of the surface that engages with the underwater equipment is matched with the shape of the underwater equipment to firmly clamp the equipment. Figure 4 In order to facilitate the grasping of underwater equipment, in some embodiments of the present invention, the mechanical claw 2 includes two rotating shafts 21 and three hooks 22 mounted on each rotating shaft 21 and capable of rotating with the rotating shaft 21. The mechanical arm can rotate the rotating shaft 21 to open and close the hooks 22. When opening, the equipment to be charged is grasped, and then the rotating shaft 21 rotates in the opposite direction to close the hooks 22 to clamp and fix the equipment. For the rotary underwater equipment, the inner surface of the hook 22, that is, the surface that matches the equipment, is arc-shaped.

[0035] Combination Figure 5 and Figure 6 In the transmitting coil assembly 3, the shell 31 is used to install the transmitting magnetic core 32, and forms a sealed space with the storage capsule 4 to accommodate it. The transmitting magnetic core 32 can be in the shape of a tile, and is connected to the cable of the underwater wireless charging base station through a mechanical arm structure, with a large activity space. To facilitate its installation and fixation, the shell 31 can also be in the shape of a tile, and the transmitting magnetic core 32 is attached to the shell 31 with its back to the mounting plate 13. That is to say, when the device is in use, the transmitting magnetic core 32 is closer to the docked underwater equipment than the mounting plate 13. The transmitting coil 33 is wound by an anti-eddy current wire, which is laid on the transmitting magnetic core 32 and can be arc-wound on the surface of the transmitting magnetic core 2, so that the axis of the wire can be coaxial with the axis of the receiving coil on the underwater equipment after docking. As an example, if the underwater equipment for power replenishment is of a rotary type, the receiving end coil can be arranged to be wound around the equipment axis, and the axis of the receiving end coil is coaxial with the underwater equipment. Then, after docking, the axis of the transmitting end coil 33 coincides with the axis of the underwater equipment, and precise alignment is achieved. The housing 31 connects the spring telescopic mechanism 7 described in detail below to the mounting plate 13 so that the angle and position relative to the receiving end coil can be adjusted by the spring telescopic mechanism 7. The housing 31 may also include lugs extending from both ends to both sides parallel to the mounting plate 13 to facilitate the connection of the electromagnet 6 and the spring telescopic mechanism 7, which will be described in detail below.

[0036] The storage capsule 4 is deformable and made of elastic material, such as rubber. The storage capsule 4 is fixed to the housing 31 to form a sealed chamber 41. The transmitting end magnetic core 32 and the transmitting end coil 33 are located in the chamber 41. The sealed chamber 41 can be filled with an insulating medium, which can be non-conductive insulating oil or insulating gas. Figure 1 and Figure 2 In the state shown, the chamber 41 is empty. In the working state of the device, that is, when charging underwater equipment, the storage bag 4 is in Figure 3A and Figure 3B In the state shown, there is an insulating medium in the chamber 41, and the storage bag 4 is deformed and expanded to contact and gradually fit with the receiving end coil, so that the conductive seawater between the transmitting end coil and the receiving end coil (which will cause the high-frequency alternating electromagnetic field excited by the transmitting end coil to generate eddy current losses in the coil coupling area) can be discharged, so that the seawater is replaced by a non-conductive insulating medium between the two, thereby making the coil coupling area almost free of eddy current losses, thereby improving the efficiency of power transmission.

[0037] Reference Figure 7 The dielectric charger and discharger 5 is installed on the mounting plate 13, and is used to store the insulating medium and fill the insulating medium into the chamber 41 after the transmitting end coil 33 is aligned with the receiving end coil to cause the storage bag 4 to deform and discharge the seawater in the coil coupling area, and discharge the filled insulating medium after the receiving end coil leaves to allow the storage bag 4 to restore its deformation.

[0038] In a specific embodiment of the present invention, the medium charging and discharging device 5 includes a storage tank 51, a pump 52 and two conduits, the two conduits are a first conduit 53 and a second conduit 54, and also includes a control unit for controlling the pump 52, the control unit is an existing mature technology and is not shown in the figure, the storage tank 51 is used to store the insulating medium, the storage tank 51 and the pump 52 can be respectively arranged on both sides of the mounting plate 13, and the pump 52 is located between the housing 31 and the mounting plate 13, the first conduit 53 connects the pump 52 and the storage tank 51, and the second conduit 54 connects the pump 52 and the storage bag 4, so that when the pump 52 is running, the insulating medium in the storage tank 51 is filled into the chamber 41, and the insulating medium in the chamber 41 is discharged into the storage tank 51. The control unit can control the forward and reverse mode switching of the pump 603 to realize the mode switching of filling and discharging oil, and a flow valve can also be set to adjust the rate of filling and discharging oil.

[0039] The electromagnet 6 and the spring expansion mechanism 7 are evenly distributed at the four corners of the housing 31, especially at the two ends of the two lugs of the housing 31, and are used to change the working power of the electromagnet 6 to drive the housing 31 to move by means of the compression or extension of the spring in the spring expansion mechanism 7, thereby adjusting the distance and angle between the transmitting end coil 33 and the receiving end coil. The electromagnet 6 is connected to the lug of the housing 31 facing the mounting plate 13, and is connected to the base station through a cable. The working power can be changed under the control of the control unit. Since the mounting plate 13 is made of magnetic material, when the power of the electromagnet increases, the electromagnet will approach the mounting plate 13, thereby driving the housing 31 to approach the mounting plate 13, that is, away from the receiving end, and the spring expansion mechanism 7 becomes shorter. When the power of the electromagnet decreases, the electromagnet will move away from the mounting plate 13, thereby driving the housing 31 to move away from the mounting plate 13, that is, close to the receiving end, and the spring expansion mechanism 7 becomes longer, thereby adjusting the working distance and angle between the transmitting end and the receiving end.

[0040] like Figure 8 As shown, each spring expansion and contraction mechanism 7 includes a screw 71, a nut 72, a spring 73 and a positioning column 74. The screw 71 passes through the housing 31 and is fixed to the housing 31 by the nut 72. The head of the screw 71 and the nut 72 sandwich the lug of the housing 31 in the middle, and can be tightened by screwing the nut 72. The positioning column 74 is provided to prevent the spring 73 from twisting and deforming and affecting the docking accuracy. An axial hole 710 is provided at the middle of the end face of the rod of the screw 71. One end of the positioning column 74 is inserted into the axial hole 710 and the other end is fixedly connected to the mounting plate 13. The spring 73 is sleeved on the positioning column 74 and its two ends are respectively fixedly connected to the end face of the screw 71 and the mounting plate 13. The spring 73 can be welded to the screw 71 and the mounting plate 13. Through this structure, when the power of the four electromagnets 6 changes differently, some of the four springs 73 extend and some contract. When the spring extends, the part of the shell 31 at the spring is close to the receiving end, and when the spring contracts, the part of the shell 31 at the spring is away from the receiving end, thereby cooperating to adjust the position of the transmitting end coil on the shell, making the transmitting end coil concentric with the receiving end coil, and achieving precise alignment.

[0041] Next, refer to Fig. 9 The working principle of the underwater equipment recovery wireless charging mechanical arm device provided by the present invention is described.

[0042] When the underwater equipment needs to be powered, it can approach the underwater wireless charging base station and maintain a stable underwater upright floating posture. When the base station receives the signal that the equipment is approaching, the mechanical arm turns on the sensor, locates the equipment position, and starts working. The equipment turns on the light to guide the mechanical claw to dock. During the docking process, the base station continuously monitors the position and posture changes of the equipment through sensors to ensure the accuracy and stability of the docking process. The control system controls the mechanical arm to adjust the position and posture of the mechanical claw to adapt to the changes of the equipment. After grabbing the underwater equipment, the mechanical arm can be controlled to transport the underwater equipment to the position aligned with the transmitter, so that the receiving end is roughly aligned with the transmitting end, that is, roughly concentric. Then control the working power of the four electromagnets to control the length and angle of the spring telescopic mechanism, accurately control the working distance and angle of the transmitting end and the receiving end, and make the transmitting end coil and the receiving end coil precisely concentric. After the position of the device and the underwater equipment is fixed, turn on the pump to inject the insulating medium into the storage bag to make the storage bag bulge and discharge the seawater between the storage bag and the receiving end. When the position is suitable, the base station starts to emit high-frequency alternating current, control the output, and couple the divergent magnetic field of the transmitting end coil with the receiving end coil to transfer energy. During the energy transfer process, the electromagnet always remains powered on and in working condition, so that the length of the spring telescopic mechanism remains unchanged, so that the transmitter and the receiver remain aligned during the charging process, ensuring that the entire process is fully coupled and that the electric energy is transported at high power, so that the energy can be efficiently and quickly transferred to the underwater equipment. After the equipment receives the electric energy, it obtains stable direct current through internal rectification and filtering, and transmits it to the energy storage battery inside the equipment. When the charging is completed, the robotic arm controls the mechanical claw to open and release the underwater equipment, and the equipment drives away. At the same time, the pump is controlled to discharge the insulating medium in the storage capsule, and the storage capsule resumes its deformation. The electromagnet is powered off, and then the robotic arm is retracted, and the transmitter returns to the underwater wireless charging base station. From then on, the work of the device is completed, and the base station enters the standby state.

[0043] Therefore, as described above, the device of the present invention can not only realize the precise alignment of the transmitting end and the receiving end, but also keep the relative position of the transmitting end and the receiving end unchanged during the charging process of the underwater equipment, thereby improving the underwater wireless power transmission efficiency of the equipment and saving the charging time cost. In addition, the device is also provided with a deformable storage capsule. After the transmitting end coil and the receiving end coil are aligned, the storage capsule is filled with an insulating medium and deformed and expanded, and the seawater in the coil coupling area is discharged, so that there is almost no eddy current loss in the coil coupling area, thereby improving the power transmission efficiency.

[0044] Finally, it should be noted that the features mentioned and / or shown in the above description of the exemplary embodiments of the present invention may be combined in the same or similar manner into one or more other embodiments, combined with the features in other embodiments or substituted for the corresponding features in other implementations. The technical solutions obtained by these combinations or substitutions shall also be deemed to be included in the protection scope of the present invention.

Claims

1. An underwater equipment recovery wireless charging mechanical arm device, used to connect to an underwater wireless charging base station to dock with underwater equipment for wireless charging, characterized in that: It includes a mechanical arm assembly, a mechanical claw, a transmitting end coil assembly, a storage capsule, a medium charger and a discharger, four electromagnets and four spring retracting mechanisms; The mechanical arm assembly can drive the mechanical claw to monitor and grasp underwater equipment, and is fixed to the base station; The transmitting end coil assembly comprises a shell, a transmitting end magnetic core and a transmitting end coil, wherein the shell is connected to a mounting plate made of magnetic material on a mechanical arm in the transmitting end coil assembly through the spring expansion mechanism, the transmitting end magnetic core is in a tile shape and fixed to the shell, and the transmitting end coil is laid on the transmitting end magnetic core and is used to align with a receiving end coil arranged on an underwater device to perform electromagnetic coupling and charge the underwater device; The storage bag is deformable and fixedly connected to the shell to form a sealed chamber, the transmitting end magnetic core and the transmitting end coil are located in the chamber, the medium charger and discharger is installed on the mounting plate, and is used to store the insulating medium and fill the insulating medium into the chamber after the transmitting end coil is aligned with the receiving end coil to deform the storage bag and discharge the seawater in the coil coupling area, and discharge the filled insulating medium after the receiving end coil leaves so that the storage bag recovers its deformation; The electromagnets and the spring expansion and contraction mechanisms are evenly distributed at the four corners of the shell in a one-to-one correspondence, and the spring expansion and contraction mechanism is connected to the mounting plate, and is used to change the working power of the electromagnet to move the shell with the help of compression or extension of the spring, thereby adjusting the distance and angle between the transmitting end coil and the receiving end coil.

2. The underwater equipment recovery wireless charging robot arm device according to claim 1, characterized in that: The insulating medium is insulating oil or insulating gas.

3. The underwater equipment recovery wireless charging robot arm device according to claim 2, characterized in that: The medium charger and discharger comprises a storage tank, a pump and two conduits. The storage tank and the pump are respectively arranged on both sides of the mounting plate, and the pump is located between the shell and the mounting plate. The two conduits respectively connect the pump with the storage tank and the pump with the storage bag.

4. The underwater equipment recovery wireless charging robot arm device according to claim 1 or 2, characterized in that: The robotic arm assembly also includes a wheel for fixing to a base station and four servos for realizing the movement of the robotic claw.

5. The underwater equipment recovery wireless charging robot arm device according to claim 1 or 2, characterized in that: Each spring expansion and contraction mechanism includes a screw, a nut, a spring and a positioning column. The screw passes through the housing and is fixed to the housing by the nut. The screw is provided with an axial hole. One end of the positioning column is inserted into the axial hole and the other end is fixedly connected to the mounting plate. The spring is sleeved on the positioning column and its two ends are respectively fixedly connected to the screw and the mounting plate.

6. The underwater equipment recovery wireless charging robot arm device according to claim 1 or 2, characterized in that: The mechanical claw comprises two rotating shafts and three hooks which are sleeved on each rotating shaft and can rotate together with the rotating shafts.

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