A wireless charging robotic arm device for underwater equipment recovery

Abstract

The present invention provides a wireless charging robotic arm device for recovering underwater equipment. The robotic arm assembly drives the mechanical claw to monitor and grasp the underwater equipment. The shell is connected to a mounting plate made of magnetic material on the robotic arm via a spring telescopic mechanism. A deformable storage capsule and the shell form a sealed chamber, in which a tile-shaped transmitting end magnetic core and a transmitting end coil are located. A dielectric charger and discharger stores insulating dielectric and, after the transmitting end and the receiving end are aligned, fills the dielectric into the chamber to deform the capsule and discharge the seawater in the coil coupling area, and discharges the dielectric after the receiving end coil leaves. Changing the power of the electromagnet on the shell can adjust the distance and angle between the transmitting end and the receiving end. The present invention can achieve precise alignment of the transmitting end and the receiving end, and can also always maintain the relative position of the two unchanged during the charging process, thereby improving the efficiency of underwater wireless power transmission and saving charging time and cost. In addition, the deformable storage capsule can discharge seawater in the coil coupling area, improving the efficiency of power transmission.

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 manipulator 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] Currently, when underwater equipment uses an underwater wireless charging base station to recharge, it typically relies on the underwater equipment autonomously approaching a transmitting coil fixed to the base station and docking the transmitting and receiving ends before power transmission begins. During the charging process, the underwater equipment is in a free state, and the receiving coil and transmitting coil are not completely aligned, with seawater between them. In this case, in areas with complex sea conditions, the underwater equipment is easily affected by the flow of seawater during power transmission, causing rotation and displacement. This leads to 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 transmitting and receiving ends underwater, and the two ends cannot be accurately aligned for a long time during wireless power transmission, resulting in low power transmission efficiency of the base station and high charging time. Second, the presence of conductive seawater in the working distance between the receiving and transmitting coils causes the high-frequency alternating electromagnetic field excited by the transmitting coil to generate eddy current losses in the coil coupling area, resulting in low wireless power transmission efficiency and long charging times. Summary of the Invention

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

[0005] To achieve the above objectives, the technical solutions provided by the present invention are:

[0006] A wireless charging manipulator for underwater equipment recovery, used to connect to an underwater wireless charging base station to dock with underwater equipment for wireless charging, comprising a manipulator assembly, a mechanical claw, a transmitting end coil assembly, a storage capsule, a medium charger and discharger, four electromagnets, and four spring retracting 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 transmitter coil assembly includes a housing, a transmitter magnetic core, and a transmitter coil. The housing is connected to a mounting plate made of magnetic material on a mechanical arm of the transmitter coil assembly via a spring expansion mechanism. The transmitter magnetic core is tile-shaped and fixed to the housing. The transmitter coil is laid on the transmitter magnetic core and is used to align with the receiver coil installed on the underwater equipment to achieve electromagnetic coupling and charge the underwater equipment.

[0009] The storage bladder is deformable and fixedly connected to the housing to form a sealed chamber. The transmitting end magnetic core and the transmitting end coil are located in the chamber. The dielectric charging and discharging device is mounted on the mounting plate and is used to store an insulating medium. After the transmitting end coil and the receiving end coil are aligned, the insulating medium is charged into the chamber to deform the storage bladder and discharge the seawater in the coil coupling area. After the receiving end coil is separated, the charged insulating medium is discharged to restore the storage bladder to its original shape.

[0010] The electromagnets and spring expansion mechanisms are evenly distributed at the four corners of the shell, and the spring expansion mechanism is connected to the mounting plate. It is used to move the shell by compressing or extending the spring by changing the working power of the electromagnet, 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 servos 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 has an axial hole. One end of the positioning column is inserted into the axial hole and the other end is fixed to the mounting plate. The spring is sleeved on the positioning column and its two ends are respectively fixed to the screw and the mounting plate.

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

[0016] The advantages of the present invention are:

[0017] The present invention's underwater equipment recovery wireless charging robotic arm device is used to cooperate with an underwater wireless charging base station to wirelessly transmit power to underwater equipment. The robotic arm in the device drives a mechanical claw to grab the underwater equipment. Changes in the electromagnet's operating power control a spring retractable mechanism to adjust the distance and angle between the transmitter coil and the receiver coil, aligning the transmitter coil and the receiver coil, which are laid on a tile-shaped transmitter core. This ensures precise alignment between the transmitter and receiver, and maintains their relative position during the underwater equipment charging process. This improves the equipment's underwater wireless power transmission efficiency and saves charging time and costs. Furthermore, the device is equipped with a deformable reservoir. After the transmitter coil and the receiver coil are aligned, the reservoir is filled with an insulating medium, causing it to deform and expand, discharging seawater from the coil coupling area. This results in virtually no eddy current loss in the coil coupling area, thereby improving power transmission efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 is a schematic perspective view of the underwater equipment recovery wireless charging robotic arm device of the present invention;

[0020] Figure 2 is a schematic perspective view of the underwater equipment recovery wireless charging robotic arm device of the present invention when the storage bag is not filled with an insulating medium;

[0021] Figure 3A This is a schematic perspective view of the underwater equipment recovery wireless charging robot arm device of the present invention, in which the storage bag is filled with an insulating medium during use, and the robot 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 robotic arm device of the present invention, wherein 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 cross-sectional view of the structure 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 figure shows the installation structure of the medium charging and discharging device, electromagnet and spring expansion and contraction mechanism in the present invention;

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

[0028] Figure 9 This is a workflow diagram of the underwater equipment recovery wireless charging robotic 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-housing, 32-transmitter magnetic core, 33-transmitter coil; 4-storage capsule, 41-chamber; 5-medium charger and discharger, 51-storage tank, 52-pump, 53-first conduit, 54-second conduit; 6-electromagnet; 7-spring expansion and contraction 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 robotic arm device for recovering underwater equipment, which is used to connect 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 set on the underwater equipment, and the transmitting end is set on the device. When the underwater equipment needs power replenishment, the two are docked to realize wireless power transmission. The wireless charging robotic arm device of the present invention can replace the traditional UUV active docking base station charging method, integrate the wireless charging and grasping of underwater equipment, ensure that the transmitting end and the receiving end remain precisely aligned during the charging process, and at the same time, discharge the seawater in the coil coupling area to minimize 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 robotic arm device includes a robotic arm assembly 1, a robotic 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 robotic arm assembly 1 can drive the robotic 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 provided 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 achieve the installation and fixation of the device. It is provided with a mounting plate 13 to achieve 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 achieved by digital servos. At the same time, an angle sensor is installed at each joint to measure the angle of rotation of each joint. The control of the manipulator assembly can be achieved by known mature technology. The reason for using six degrees of freedom for the manipulator is that it is more convenient to perform posture calculation for a six-degree-of-freedom manipulator; compared with a low-degree-of-freedom manipulator, a six-degree-of-freedom manipulator can better complete tasks in complex underwater environments. In particular, the manipulator assembly 1 includes a wheel 11 for fixing to the base station and four servos 12 for achieving the movement of the manipulator 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 effect, and are cheaper; 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 appropriate 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 fixed 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 particularly limited, 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 To facilitate grasping underwater equipment, in some embodiments of the present invention, the gripper 2 includes two rotating shafts 21 and three hooks 22 mounted on each shaft 21 and capable of rotating with the shafts 21. The robotic arm rotates the shafts 21, thereby opening and closing the hooks 22. When opened, the device to be charged is grasped. The shafts 21 then rotate in the opposite direction, closing the hooks 22 and securing the device. For rotary underwater equipment, the inner surface of the hooks 22, which mates with the device, is arc-shaped.

[0035] Combine Figure 5 and Figure 6 In the transmitter coil assembly 3, the shell 31 is used to install the transmitter magnetic core 32 and forms a sealed space with the storage capsule 4 to accommodate it. The transmitter magnetic core 32 can be tile-shaped and connected to the cable of the underwater wireless charging base station through a mechanical arm structure, with a large movable space. To facilitate its installation and fixation, the shell 31 can also be tile-shaped. The transmitter magnetic core 32 is attached to the shell 31 with its back facing the mounting plate 13. That is to say, when the device is in use, the transmitter magnetic core 32 is closer to the docked underwater equipment than the mounting plate 13. The transmitter coil 33 is wound with anti-eddy current wire. The wire is laid on the transmitter magnetic core 32 and can be arc-wound on the surface of the transmitter 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. For example, if the underwater equipment being powered is of a rotary type, the receiving coil can be arranged to wrap around the equipment's axis. This makes the receiving coil's axis coaxial with the underwater equipment. After docking, the axis of the transmitting coil 33 coincides with the axis of the underwater equipment, achieving precise alignment. The housing 31 connects to the mounting plate 13 via a spring retractable mechanism 7, described in detail below, so that the spring retractable mechanism 7 can adjust the angle and position relative to the receiving coil. The housing 31 may also include lugs extending from both ends parallel to the mounting plate 13 to facilitate connection between the electromagnet 6 and the spring retractable mechanism 7, as 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 shell 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 capsule 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 loss 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 it almost non-existent eddy current loss in the coil coupling area, thereby improving the efficiency of power transmission.

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

[0038] In a specific embodiment of the present invention, the medium charger and discharger 5 includes a reservoir 51, a pump 52, and two conduits, namely a first conduit 53 and a second conduit 54. It also includes a control unit for controlling the pump 52, which is a well-known existing technology and is not shown in the figure. The reservoir 51 is used to store the insulating medium. The reservoir 51 and the pump 52 can be respectively arranged on both sides of the mounting plate 13, with the pump 52 located between the housing 31 and the mounting plate 13. The first conduit 53 connects the pump 52 with the reservoir 51, and the second conduit 54 connects the pump 52 with the reservoir 4, so that when the pump 52 is in operation, the insulating medium in the reservoir 51 is filled into the chamber 41, and the insulating medium in the chamber 41 is discharged into the reservoir 51. The control unit can control the forward and reverse mode switching of the pump 603 to achieve the mode switching between oil filling and oil discharge, and can also be provided with a flow valve to adjust the rate of oil filling and discharge.

[0039] The electromagnets 6 and the spring expansion and contraction mechanisms 7 are evenly distributed at the four corners of the housing 31, particularly at the ends of the two lugs of the housing 31, corresponding to each other. They are used to adjust the distance and angle between the transmitting coil 33 and the receiving coil by changing the operating power of the electromagnets 6 and compressing or extending the spring in the spring expansion and contraction mechanisms 7. The electromagnets 6 are connected to the lugs of the housing 31 facing the mounting plate 13 and are connected to the base station via a cable. The operating power can be changed under the control of a control unit. Since the mounting plate 13 is made of magnetic material, when the electromagnet power increases, the electromagnet moves closer to the mounting plate 13, thereby moving the housing 31 closer to the mounting plate 13, that is, away from the receiving end, and at the same time, the spring expansion and contraction mechanisms 7 shorten. When the electromagnet power decreases, the electromagnet moves away from the mounting plate 13, thereby moving the housing 31 away from the mounting plate 13, that is, closer to the receiving end, and at the same time, the spring expansion and contraction mechanisms 7 lengthen, thereby adjusting the operating 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, 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 in 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 fixed to the mounting plate 13. The spring 73 is sleeved on the positioning column 74 and its two ends are respectively fixed to the end face of the screw 71 and the mounting plate 13. The spring 73 can especially 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 Figure 9 The working principle of the underwater equipment recovery wireless charging robotic arm device provided by the present invention is described.

[0042] When underwater equipment requires power, it simply approaches the underwater wireless charging base station and maintains a stable upright underwater position. Once the base station receives a signal from the equipment approaching, the robotic arm activates its sensors to locate the equipment and begin docking. The equipment then illuminates to guide the robotic gripper. During the docking process, the base station continuously monitors the equipment's position and posture changes through sensors to ensure accurate and stable docking. The control system controls the robotic arm to adjust the gripper's position and posture to accommodate the equipment's movements. After grasping the underwater equipment, the robotic arm can be controlled to align the equipment with the transmitter, ensuring that the receiver and transmitter are roughly aligned and concentric. The power of the four electromagnets is then controlled to control the length and angle of the spring retraction mechanism, precisely controlling the operating distance and angle between the transmitter and receiver, ensuring precise concentricity between the transmitter and receiver coils. Once the device and the underwater equipment are securely positioned, a pump is activated to inject an insulating medium into the reservoir, causing the reservoir to inflate and displace the seawater between the reservoir and receiver. Once the position is optimal, the base station begins generating high-frequency alternating current, controlling the output. Energy is transferred through the divergent magnetic fields of the transmitter and receiver coils. During the energy transfer process, the electromagnet remains energized and operational, maintaining the length of the spring retractable mechanism. This ensures alignment between the transmitter and receiver during charging, ensuring full coupling throughout the entire process and high-power transmission of electrical energy, enabling efficient and rapid energy transfer to the underwater equipment. After the equipment receives the electrical energy, it undergoes internal rectification and filtering to generate stable direct current, which is then transmitted to the equipment's internal energy storage battery. Once charging is complete, the robotic arm controls the claws to open, releasing the underwater equipment and allowing it to sail away. Simultaneously, the pump controls the discharge of the insulating medium from the reservoir, causing the reservoir to return to its original shape. The electromagnet is de-energized, and the robotic arm retracts, returning the transmitter to the underwater wireless charging base station. The device's operation is now complete, and the base station enters standby mode.

[0043] Therefore, as described above, the device of the present invention not only achieves precise alignment between the transmitter and receiver, but also maintains their relative position during the underwater equipment charging process, thereby improving the equipment's underwater wireless power transmission efficiency and saving charging time and costs. Furthermore, the device incorporates a deformable reservoir. After the transmitter coil and receiver coil are aligned, the reservoir is filled with an insulating medium, causing it to deform and expand, discharging seawater from the coil coupling area, virtually eliminating eddy current losses in the coil coupling area and thus improving power transmission efficiency.

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

Claims

1. A wireless charging manipulator for underwater equipment recovery, used to connect to an underwater wireless charging base station to dock with underwater equipment for wireless charging, characterized by: It includes a mechanical arm assembly, a mechanical claw, a transmitting end coil assembly, a storage capsule, a medium charger and discharger, four electromagnets and four spring expansion and contraction mechanisms; The robotic arm assembly can drive the robotic claw to monitor and grasp underwater equipment, and is fixed to the base station; The transmitting coil assembly includes a housing, a transmitting magnetic core, and a transmitting coil. The housing is connected to a mounting plate made of magnetic material on a mechanical arm of the transmitting coil assembly via the spring expansion mechanism. The transmitting magnetic core is tile-shaped and fixed to the housing. The transmitting coil is laid on the transmitting magnetic core and is used to align with a receiving coil provided 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 dielectric charger and discharger is mounted on the mounting plate and is used to store an insulating medium and to charge the insulating medium into the chamber after the transmitting end coil and the receiving end coil are aligned, thereby deforming the storage bag and discharging the seawater in the coil coupling area. After the receiving end coil leaves, the charged insulating medium is discharged to restore the storage bag to its original shape. 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 mechanisms are connected to the mounting plate, and are used to move the shell by compressing or extending the spring by changing the working power of the electromagnets, thereby adjusting the distance and angle between the transmitting end coil and the receiving end coil.

2. The underwater equipment recovery wireless charging robotic 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 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 with the storage tank and the pump with the storage bag.

4. The underwater equipment recovery wireless charging manipulator device according to claim 1 or 2, characterized in that: The robotic arm assembly further 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 manipulator 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 fixed to the mounting plate. The spring is sleeved on the positioning column and its two ends are respectively fixed to the screw and the mounting plate.

6. The underwater equipment recovery wireless charging manipulator device according to claim 1 or 2, characterized in that: 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.

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