Underwater robot capable of realizing wireless charging

Abstract

The utility model provides an underwater robot capable of realizing wireless charging, which comprises an underwater robot body and an outer shell arranged on the outer surface of the underwater robot body, and is characterized in that a filtering device is arranged in the underwater robot body, a water inlet communicated with the filtering device is arranged at the bottom of the underwater robot body, and a water outlet communicated with the filtering device is arranged at the bottom of the underwater robot body. A water outlet is formed in the side part or / and the upper part of the underwater robot body; a wireless charging area is arranged on the surface of the outer shell, electromagnetic induction is generated through the wireless charging device and the wireless charging area in a tightly-attached contact or non-contact mode, and therefore electric power can be transmitted between the wireless charging device and the underwater robot body. According to the underwater robot capable of achieving wireless charging, energy conversion of electromagnetic waves and electric energy is carried out through electromagnetic induction so that wireless charging can be achieved, compared with wired charging, the fault probability is low, the charging process is simplified, and working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular to an underwater robot capable of realizing wireless charging. Background Art

[0002] With the growing demand for underwater operations, underwater robots are increasingly being used. In the prior art, in order to meet the needs of swimming pool cleaning, rechargeable underwater robots have also emerged, but their charging method still relies on wired connection charging. At present, underwater robots are charged after they are salvaged ashore after their work is completed, which makes underwater robots face many problems, such as: the waterproof sealing performance requirements of the charging port are high, which increases the manufacturing cost and has a high risk of failure; and ordinary charging ports will be trapped with water droplets, dust, mud, etc., which can easily damage the charging structure and cause poor charging; the wired charging method of underwater robots also requires deep human participation in the charging process (such as manually inserting the charging plug into the charging port), that is, the underwater robot cannot achieve full-time unmanaged operation, and the work efficiency is low.

[0003] It can be seen that the underwater robots in the prior art have the problems of high risk of failure and low working efficiency because they rely on wired connection for charging. Utility Model Content

[0004] The embodiment of the utility model provides an underwater robot capable of wireless charging, so as to solve the problems of high failure risk and low working efficiency that cannot be avoided in the prior art rechargeable underwater robots which rely on wired connection for charging.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] An underwater robot capable of wireless charging comprises an underwater robot body, an outer shell is arranged on the exterior of the underwater robot body, a filtering device is arranged inside the underwater robot body, a water inlet connected to the filtering device is arranged at the bottom of the underwater robot body, and a water outlet is arranged on the side or / and the top of the underwater robot body.

[0007] A wireless charging area is provided on the surface of the outer shell, and electromagnetic induction is generated between the wireless charging device and the wireless charging area in close contact or non-contact manner, so that power can be transmitted between the wireless charging device and the underwater robot body, thereby realizing wireless charging between the wireless charging device and the underwater robot.

[0008] Further, a first induction coil is provided in the wireless charging device, and a second induction coil is provided in the wireless charging area;

[0009] The first induction coil can emit electromagnetic waves to the outside under the action of electricity, and the second induction coil can convert the energy of the electromagnetic waves into electrical energy after receiving the electromagnetic waves; or the second induction coil emits electromagnetic waves to the outside under the action of electricity, and the first induction coil receives and converts the electromagnetic waves into electrical energy.

[0010] That is, energy conversion between electromagnetic waves and electrical energy can be carried out between the first induction coil and the second induction coil through electromagnetic induction.

[0011] Furthermore, the range of the distance L between the wireless charging device and the surface of the outer housing is: 0 ≤ L ≤ 50 mm, or 0 < L ≤ 50 mm. Within this range, effective transmission of electromagnetic waves can be ensured to meet the wireless charging function.

[0012] When L is 0, the wireless charging device is in contact with the surface of the outer housing. At this time, the wireless charging efficiency is relatively high, but it is easy to cause rubbing or bumping between the wireless charging device and the outer housing, resulting in damage to the surface of the outer housing. And when the wireless charging device needs to be close to the bottom of the outer housing to cooperate with the underwater robot body for charging, it is difficult to achieve L = 0.

[0013] When L is 50 mm, wireless charging can still be carried out between the wireless charging device and the underwater robot body, and the charging efficiency is ensured. At this time, long-distance charging is also achieved.

[0014] When L is greater than 50, the attenuation of electromagnetic waves during transmission is relatively large, and it is no longer suitable for wireless charging; the optional values of L also include 0.05, 10, 0.95. When L takes 10, it can better balance reducing the rubbing or bumping between the wireless charging device and the outer housing while taking into account wireless charging.

[0015] Furthermore, the wireless charging device has at least one mating surface for mating with the outer housing to achieve a better electromagnetic induction effect. The mating surface is a plane or a curved surface. On the basis of including the mating surface, the wireless charging device can be set in various shapes, including flat plate shape, cylindrical shape, trapezoidal shape, regular polyhedron shape, and cone shape, as well as irregular shapes adapted to the shape of the outer housing, all of which can achieve its purpose and effect.

[0016] Furthermore, the area of the wireless charging area is larger than the area of the working surface of the wireless charging device used for mating for charging, and the volume of the second induction coil is smaller than that of the first induction coil. In this way, when the wireless charging device is placed at any position within the range of the wireless charging area, charging can be carried out, thus eliminating the complex and cumbersome processes such as alignment, alignment, and full contact during wireless charging.

[0017] In one embodiment, the wireless charging area is arranged on the upper part of the outer shell, and the wireless charging device is directly placed on the outer shell to realize wireless charging, thereby making it easier to cooperate with the wireless charging device and the underwater robot body, simplifying the wireless charging workflow.

[0018] In one embodiment, the wireless charging area is arranged at the bottom of the outer shell, and the wireless charging device is placed or fixed at the bottom of the activity area of ​​the underwater robot body. After the underwater robot body approaches and stays above the wireless charging device, the wireless charging device can wirelessly charge the underwater robot body, thereby making the cooperation between the wireless charging device and the underwater robot body easier and simplifying the wireless charging workflow.

[0019] In one embodiment, the wireless charging area is arranged on the side of the outer shell or at the connection between the side of the outer shell and other adjacent parts of the outer shell, including the connection between the side and the bottom, the connection between the side and other sides, and the connection between the side and the top; the wireless charging device is placed or fixed on the side of the activity site of the underwater robot body. After the underwater robot body approaches the wireless charging device, the wireless charging device can wirelessly charge the underwater robot body, thereby making the cooperation between the wireless charging device and the underwater robot body easier and simplifying the wireless charging workflow.

[0020] Furthermore, the outer surface contour shape of the wireless charging device matches the contour shape of the outer shell in the wireless charging area, thereby reducing the gap when the wireless charging device and the outer shell are fitted together, and optimizing the wireless charging efficiency between the wireless charging device and the underwater robot body.

[0021] Furthermore, a through or non-through receiving groove is formed in a depression on the outer shell, and the wireless charging area is arranged in the inner wall of the receiving groove. At least a part of the wireless charging device can be placed in the receiving groove, and at least a part of the wireless charging device can cooperate with the wireless charging area, so that the wireless charging device can wirelessly charge the underwater robot body. The cooperation between the wireless charging device and the receiving groove enables the distance between the wireless charging device and the surface of the outer shell to be accurately controlled.

[0022] Furthermore, when the accommodating groove is a through type, the wireless charging area is located on the side wall of the accommodating groove; when the accommodating groove is a non-through type, the wireless charging area is located on the side wall or bottom wall of the accommodating groove. The integrated cooperation mode of the wireless charging device and the accommodating groove enables the distance between the wireless charging device and the surface of the outer shell to be accurately controlled.

[0023] Furthermore, a limiting structure is formed on the wireless charging device and / or the receiving slot. When the wireless charging device is inserted into the receiving slot, the limiting structure can limit the extent to which the wireless charging device extends into the receiving slot and abuts and supports the wireless charging device, thereby reducing or even preventing the shaking of the wireless charging device in the receiving slot. At the same time, while limiting the extent of the extension, the limiting structure can also ensure the correspondence between the first induction coil and the second induction coil, so that the induction charging process can be carried out better.

[0024] Further, the limiting structure includes a first matching inclined surface respectively arranged on the wireless charging device and a second matching inclined surface arranged in the receiving groove;

[0025] When the wireless charging device is inserted into the receiving groove, the first matching bevel and the second matching bevel fit together, thereby preventing the wireless charging device from shaking in the receiving groove and controlling the extent to which the wireless charging device extends into the receiving groove.

[0026] In one embodiment, the limiting structure includes a limiting protrusion arranged on the wireless charging device. When the wireless charging device is inserted into the receiving groove, the limiting protrusion abuts against the edge of the receiving groove, and the edge of the receiving groove forms a support for the limiting protrusion, thereby controlling the extent to which the wireless charging device extends into the receiving groove and reducing the shaking of the wireless charging device in the receiving groove.

[0027] In one embodiment, the limiting structure includes a limiting protrusion arranged on the wireless charging device and a second limiting protrusion arranged on the inner wall of the receiving groove. When the wireless charging device is received in the receiving groove, the limiting protrusion abuts against the second limiting protrusion.

[0028] The beneficial effects of the utility model are:

[0029] The underwater robot capable of wireless charging provided by the utility model can realize electromagnetic induction through different areas and in close contact or non-contact, and perform energy conversion between electromagnetic waves and electrical energy to realize wireless charging. Compared with wired charging, the probability of failure is low, the charging process is simplified, and work efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the top of the underwater robot body cooperating with the wireless charging device;

[0031] Figure 2 A schematic diagram of the side of the underwater robot body cooperating with the wireless charging device;

[0032] Figure 3 It is a schematic diagram of the other side of the underwater robot body cooperating with the wireless charging device;

[0033] Figure 4A schematic diagram of the bottom of the underwater robot body cooperating with the wireless charging device;

[0034] Figure 5 It is a schematic diagram of the underwater robot body cooperating with the wireless charging device by setting a receiving groove;

[0035] Figure 6 Another schematic diagram of the underwater robot body cooperating with the wireless charging device by providing a receiving groove;

[0036] Figure 7 A schematic diagram of an embedded wireless charging device.

[0037] Description of reference numerals:

[0038] 1. Wireless charging device; 10. Electric wire; 11. Grip; 12. Limiting protrusion; 2. Wireless charging area; 3. Underwater robot body; 31. Receiving groove. DETAILED DESCRIPTION

[0039] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0040] like Figure 1-7 As shown, an embodiment of the utility model provides an underwater robot capable of wireless charging, which includes an underwater robot body 3, an outer shell is arranged on the exterior of the underwater robot body 3, a filtering device is arranged inside the underwater robot body 3, a water inlet connected to the filtering device is arranged at the bottom of the underwater robot body 3, and a water outlet is arranged on the side or / and the top of the underwater robot body 3.

[0041] The underwater robot can make water in a water body pass through a water inlet, a filtering device, and a water outlet in sequence, and clean the water body by utilizing the filtering effect of the filtering device, wherein the specific structure of the filtering device is prior art.

[0042] As the main technical improvement of the utility model, a wireless charging area 2 is provided on the surface of the outer shell, and electromagnetic induction is generated between the wireless charging device 1 and the wireless charging area 2 in close contact or non-contact manner, so that electric power can be transmitted between the wireless charging device 1 and the underwater robot body 3, thereby realizing wireless charging.

[0043] Specifically, a first induction coil is arranged in the wireless charging device 1, and a second induction coil is arranged in the wireless charging area 2. The first induction coil can emit electromagnetic waves to the outside (forming an electromagnetic field) under the action of electric power, and the second induction coil can convert the energy of the electromagnetic waves into electrical energy after receiving the electromagnetic waves (the second induction coil is within the electromagnetic field formed by the first induction coil), that is, the first induction coil and the second induction coil can perform energy conversion between electromagnetic waves and electrical energy through electromagnetic induction, thereby realizing wireless charging (the specific structures of the first induction coil and the second induction coil already have multiple embodiments in the prior art, which will not be repeated here).

[0044] Taking into account that the underwater robot body 3 may need to be wirelessly reverse charged under special circumstances, in another specific implementation, the second induction coil can emit electromagnetic waves to the outside world under the action of electric power, and the first induction coil can convert the energy of the electromagnetic waves into electrical energy after receiving the electromagnetic waves, thereby realizing wireless charging.

[0045] Considering the attenuation of electromagnetic waves during transmission, the first induction coil and the second induction coil need a better distance range to achieve the wireless charging function. In the present invention, the distance L between the wireless charging device 1 and the surface of the outer shell is in the range of: 0≤L≤50mm, or 0<L≤50mm;

[0046] When L is 0, the wireless charging device 1 fits against the surface of the outer shell, and the wireless charging efficiency is high at this time. However, the wireless charging device 1 and the outer shell are prone to scratches or collisions, causing damage to the surface of the outer shell. Moreover, when the wireless charging device 1 needs to be close to the bottom of the outer shell and cooperate with the underwater robot body 3 for charging, it is difficult to achieve L being 0. When L is 50, wireless charging can still be performed between the wireless charging device 1 and the underwater robot body 3, and the charging efficiency is guaranteed. At this time, long-distance charging is also achieved. When L is greater than 50, the attenuation of electromagnetic waves during transmission is large, and it is no longer suitable for wireless charging. In a more specific embodiment, the optional values ​​of L also include 0.05, 10, and 0.95. When L is 10, it can better balance wireless charging while reducing the scratches or collisions between the wireless charging device 1 and the outer shell.

[0047] The wireless charging device 1 is connected to a wire 10 for transmitting power to the first induction coil. Considering that electromagnetic waves are generally invisible to the naked eye, a charging indicator light for indicating the charging status is also provided on the wireless charging device 1 to facilitate observation of the wireless charging status.

[0048] The wireless charging device 1 can be specifically configured to have a variety of shapes, such as: a flat plate, a cylinder, a trapezoid, a regular polyhedron and a cone, as well as special shapes adapted to the shape of the outer shell, but the wireless charging device 1 has at least one mating surface for mating with the outer shell to achieve a better electromagnetic induction effect, and the mating surface is a plane or a curved surface.

[0049] The area of ​​the wireless charging area 2 can be larger than the area of ​​the active surface of the wireless charging device 1 for charging, and correspondingly, the volume of the second induction coil is also smaller than the first induction coil; in this way, when the wireless charging device 1 is placed at any position within the wireless charging area 2, charging can be performed, thereby eliminating the complex and tedious processes of alignment, alignment, full contact, etc. required for wireless charging.

[0050] Taking into account the usage scenario in water, a counterweight block is also provided in the wireless charging device 1. The counterweight block can reduce the impact of buoyancy on the wireless charging device 1, and can also more reliably contact the underwater robot body 3 when the wireless charging device 1 is placed above the outer shell.

[0051] The cooperation relationship between the wireless charging device 1 and the underwater robot body 3 has various embodiments, such as Figure 1 As shown: the wireless charging area 2 is located at the upper part of the outer shell, and the wireless charging device 1 is directly placed on the outer shell to realize wireless charging. In a more specific embodiment, a limiting groove for carrying the wireless charging device 1 is also formed on the outer shell, so that the wireless charging process can be more reliable. In another more specific embodiment, an identification mark for indicating the location of the wireless charging area 2 is set on the outer shell.

[0052] like Figure 2 and Figure 3 As shown, in another matching embodiment of the wireless charging device 1 and the underwater robot body 3, the wireless charging area 2 is arranged on the side of the outer shell, or is arranged at the connection between the side of the outer shell and other adjacent parts of the outer shell, such as the connection between the side and the bottom, the connection between the side and other sides, the connection between the side and the top, etc.; the wireless charging device 1 is placed or fixed on the side of the activity site of the underwater robot body 3, and the underwater robot body 3 moves close to or directly abuts against the wireless charging device 1, so that energy conversion between electromagnetic waves and electrical energy can be carried out between the first induction coil and the second induction coil, that is, wireless charging can be carried out.

[0053] In another more specific embodiment, the outer surface contour shape of the wireless charging device 1 matches the contour shape of the outer shell in the wireless charging area 2, thereby reducing the gap when the wireless charging device 1 and the outer shell are fitted together (for example, the outer shell in the wireless charging area 2 is in the shape of a flat plate, and the wireless charging device 1 is also in the shape of a flat plate).

[0054] like Figure 4As shown, in another matching embodiment of the wireless charging device 1 and the underwater robot body 3, the wireless charging area 2 is arranged at the bottom of the outer shell, and the wireless charging device 1 is placed or fixed at the bottom of the activity area of ​​the underwater robot body 3. After the underwater robot body 3 moves close to and stays above the wireless charging device 1 (specifically, the wireless charging area 2 is located above the wireless charging device 1), the wireless charging device 1 can wirelessly charge the underwater robot body 3.

[0055] In a more specific embodiment, the wireless charging device 1 is in the shape of a plate, so that it can be installed at the bottom of the activity area of ​​the underwater robot body 3 without affecting the movement of the underwater robot body 3 in the activity area.

[0056] like Figure 5-7 As shown, in another matching embodiment of the wireless charging device 1 and the underwater robot body 3, a through or non-through receiving groove 31 is recessedly formed on the outer shell, the wireless charging area 2 is located in the receiving groove 31, and at least a part of the wireless charging device 1 can be placed in the receiving groove 31, so that the wireless charging device 1 can wirelessly charge the underwater robot body 3, and the receiving matching mode of the wireless charging device 1 and the receiving groove 31 enables the distance between the wireless charging device 1 and the surface of the outer shell to be accurately controlled.

[0057] In a more specific embodiment, when the receiving groove 31 is a through type, the wireless charging area 2 is located at the side wall of the receiving groove 31 , and when the receiving groove 31 is a non-through type, the wireless charging area 2 is located at the side wall or bottom wall of the receiving groove.

[0058] In a more specific embodiment, a gripping portion 11 with a reduced volume is formed on the wireless charging device 1 , and the gripping portion 11 is used for a user to grip the wireless charging device 1 .

[0059] In a more specific embodiment, a limiting structure is formed on the wireless charging device 1 and / or the receiving groove 31. When the wireless charging device 1 is inserted into the receiving groove 31, the limiting structure can limit the extent to which the wireless charging device 1 extends into the receiving groove 31, abut and support the wireless charging device 1, and reduce or even avoid shaking of the wireless charging device 1 in the receiving groove 31.

[0060] The limiting structure may be a first matching bevel provided on the wireless charging device 1 and a second matching bevel provided in the receiving groove 31. When the wireless charging device 1 is inserted into the receiving groove 31, the first matching bevel and the second matching bevel fit together. The first matching bevel and the second matching bevel fit together to avoid the shaking of the wireless charging device 1 in the receiving groove 31 and control the extent to which the wireless charging device 1 extends into the receiving groove 31. At the same time, the limiting structure can ensure the correspondence between the first induction coil and the second induction coil while limiting the extent to which the wireless charging device 1 extends into the receiving groove 31, so that the induction charging process can be carried out better.

[0061] The limiting structure can also be a limiting protrusion 12 separately provided on the wireless charging device 1. When the wireless charging device 1 is placed in the receiving groove 31, the limiting protrusion 12 abuts against the edge of the receiving groove 31, and the edge of the receiving groove 31 supports the limiting protrusion 12, thereby controlling the extent to which the wireless charging device 1 extends into the receiving groove 31 and reducing the shaking of the wireless charging device 1 in the receiving groove 31. In addition, considering the reliability of the limiting, the limiting protrusion 12 can further extend along the outer surface of the wireless charging device 1 and form a closed loop, that is, forming a ring-shaped limiting protrusion 12, so as to have a better limiting and fixing effect.

[0062] In one embodiment, a second limiting protrusion is further provided on the inner wall of the accommodating groove 31, and the limiting protrusion can abut against the second limiting protrusion, and the limiting is achieved by the cooperation of the limiting protrusion and the second limiting protrusion. The underwater robot capable of wireless charging provided by the utility model is provided by providing a first induction coil in the wireless charging device, providing a second induction coil on the wireless charging area of ​​the underwater robot body 3, and achieving wireless charging by converting the electromagnetic waves and electric energy between the first induction coil and the second induction coil. The underwater robot capable of wireless charging provided by the utility model has a low probability of failure compared to wired charging, simplifies the charging process, and improves work efficiency.

[0063] The above-mentioned embodiments only express the implementation methods of the utility model, but they cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. An underwater robot capable of wireless charging, comprising an underwater robot body (3), wherein the outer surface of the underwater robot body (3) is provided with an outer shell, characterized in that: A filtering device is arranged inside the underwater robot body (3); a water inlet connected to the filtering device is arranged at the bottom of the underwater robot body (3); and a water outlet is arranged at the side or / and the top of the underwater robot body (3); A wireless charging area (2) is provided on the surface of the outer shell, and electromagnetic induction is generated between the wireless charging device (1) and the wireless charging area (2) in close contact or non-contact manner, thereby enabling electric power to be transmitted between the wireless charging device (1) and the underwater robot body (3).

2. The underwater robot capable of wireless charging according to claim 1, characterized in that: A first induction coil is arranged in the wireless charging device (1), and a second induction coil is arranged in the wireless charging area (2); The first induction coil and the second induction coil can perform energy conversion between electromagnetic waves and electrical energy through electromagnetic induction.

3. The underwater robot capable of wireless charging according to claim 1, characterized in that: The range of the distance L between the wireless charging device (1) and the surface of the outer shell is: 0≤L≤50mm.

4. The underwater robot capable of wireless charging according to claim 1, characterized in that: The wireless charging device (1) has at least one mating surface for mating with the outer shell to achieve a better electromagnetic induction effect, and the mating surface is a plane or a curved surface.

5. The underwater robot capable of wireless charging according to claim 2, characterized in that: The area of ​​the wireless charging region (2) is larger than the area of ​​the active surface of the wireless charging device (1) for charging, and the volume of the second induction coil is smaller than the volume of the first induction coil.

6. The underwater robot capable of wireless charging according to any one of claims 1 to 5, characterized in that: The wireless charging area (2) is arranged on the upper part of the outer shell, and the wireless charging device (1) is directly placed on the upper part of the outer shell to realize wireless charging.

7. The underwater robot capable of wireless charging according to any one of claims 1 to 5, characterized in that: The wireless charging area (2) is arranged at the bottom of the outer shell, and the wireless charging device (1) is placed or fixed at the bottom of the activity area of ​​the underwater robot body (3). After the underwater robot body (3) approaches and stays above the wireless charging device (1), the wireless charging device (1) can wirelessly charge the underwater robot body (3).

8. The underwater robot capable of wireless charging according to any one of claims 1 to 5, characterized in that: The wireless charging area (2) is arranged on the side of the outer shell or at the connection between the side of the outer shell and other adjacent parts of the outer shell. The wireless charging device (1) is placed or fixed on the side of the activity area of ​​the underwater robot body (3). When the underwater robot body (3) is close to the wireless charging device (1), the wireless charging device (1) can wirelessly charge the underwater robot body (3).

9. The underwater robot capable of wireless charging according to claim 8, characterized in that: The outer surface contour shape of the wireless charging device (1) matches the contour shape of the outer shell at the wireless charging area (2), thereby reducing the gap when the wireless charging device (1) and the outer shell are fitted together.

10. The underwater robot capable of wireless charging according to any one of claims 1 to 5, characterized in that: A through-type or non-through-type accommodating groove (31) is formed in a recess on the outer shell, the wireless charging area (2) is arranged in the inner wall of the accommodating groove (31), at least a part of the wireless charging device (1) can be placed in the accommodating groove (31), and at least a part of the wireless charging device (1) can cooperate with the wireless charging area (2), so that the wireless charging device (1) can wirelessly charge the underwater robot body (3).

11. The underwater robot capable of wireless charging according to claim 10, characterized in that: A limiting structure is formed on the wireless charging device (1) and / or the receiving groove (31); when the wireless charging device (1) is received in the receiving groove (31), the limiting structure can limit the extent to which the wireless charging device (1) extends into the receiving groove (31) and abut against and support the wireless charging device (1).

12. The underwater robot capable of wireless charging according to claim 11, characterized in that: The limiting structure comprises a first matching inclined surface respectively arranged on the wireless charging device (1) and a second matching inclined surface arranged in the receiving groove (31); When the wireless charging device (1) is received in the accommodating groove (31), the first matching inclined surface and the second matching inclined surface are in contact with each other.

13. The underwater robot capable of wireless charging according to claim 11, characterized in that: The limiting structure comprises a limiting protrusion (12) arranged on the wireless charging device (1); when the wireless charging device (1) is received in the receiving groove (31), the limiting protrusion (12) abuts against the edge of the receiving groove (31).

14. The underwater robot capable of wireless charging according to claim 11, characterized in that: The limiting structure comprises a limiting protrusion (12) arranged on the wireless charging device (1) and a second limiting protrusion arranged on the inner wall of the accommodating groove (31); when the wireless charging device (1) is received in the accommodating groove (31), the limiting protrusion (12) abuts against the second limiting protrusion.

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