This paper proposes an orthogonal concave coupling mechanism based on wireless charging for unmanned aerial vehicles (UAVs); the original edge adopts a concave transmitting coil. So as not to occupy the gimbal position at the receiving end, the receiving coil is installed on the landing gear of the UAV perpendicular to the transmitting coil to form an orthogonal coupling magnetic field. This study conducted a finite element simulation of the coupling mechanism using Ansys Maxwell to test the mechanism’s coupling capability and anti-offset performance. The spatial distribution of the system’s magnetic field was constrained, and the magnetic flux leakage of the system was reduced by optimizing the transmitter structure. The system employed a double-sided LCC compensation topology network and used wireless communication to achieve constant voltage/constant current closed-loop control. Finally, the experimental platform was built, and the results show that the system output power was able to reach 960 W with 85.7% efficiency, and could realize the closed-loop control of charging with 48 V constant voltage and 20 A constant current. The system has the advantages of being small in size, lightweight (290 g) and easy to install, and the receiver device has strong resistance to offset.