A buffer and damping device and method for an AUV launch and recovery system

Abstract

The application discloses a kind of buffer damping device and method for AUV retraction system, including AUV support, the AUV support one end is provided with electric winch, the AUV support is slidably provided with jaw assembly, the jaw assembly includes U-shaped frame, the lower part of both ends of the U-shaped frame is fixed with guide strip, two the sliding assembly that realizes its sliding connection with AUV support is set on two guide strips, the same door type frame is fixed with two the guide strip away from U-shaped frame one end, the recessed lower recess is formed at the top middle position of the door type frame, the rectangular gap is set in the top of the U-shaped frame, the cylindrical portion is set at the top middle position of the U-shaped frame, the vertical block is set at the position of the top of the U-shaped frame close to cylindrical portion.The application can be with the process of jaw assembly retraction, realize two tail support plate close to combine, can support the tail of AUV, avoid AUV from AUV support slide, improve the stability of equipment.

Description

Technical Field

[0001] This invention relates to the field of AUV take-up and take-off device technology, and in particular to a buffer anti-sway device and method for an AUV take-up and take-off system. Background Technology

[0002] AUV is an abbreviation for "Autonomous Underwater Vehicles," which refers to automated underwater vehicles. Because they require no human intervention or umbilical cables in actual underwater operations, they can autonomously operate in remote, inaccessible, unpredictable, or dangerous marine environments, performing tasks such as autonomous navigation, obstacle avoidance, and operation. Therefore, intelligent underwater robots have unparalleled advantages in research and application fields such as serving as deep-sea work platforms, underwater search and rescue, marine exploration and sampling, and underwater measurement. When an intelligent underwater robot begins operation, it needs to be transported by a mother ship to a designated sea area for deployment. After completing its mission, it surfaces and is then retrieved back to the mother ship to return to port. Therefore, deployment and retrieval technology is a key technology in the application of intelligent underwater robots. Due to the influence of sea waves, deployment and retrieval are relatively difficult operations. Currently, intelligent underwater robots are mainly deployed and retrieved by installing lifting points on the submersible.

[0003] A search revealed Chinese patent CN104890835B, which discloses a two-stage deployment and recovery device for a submersible. The solution in this application, like the prior art, has a problem: during the recovery of the AUV onto the ship, the AUV equipment will sway with the water flow, which is not conducive to the smooth recovery of the AUV. Therefore, a buffer anti-sway device and method for an AUV deployment and recovery system is proposed. Summary of the Invention

[0004] Based on the technical problems existing in the background art, the present invention proposes a buffer anti-sway device and method for AUV take-up and take-off systems.

[0005] This invention proposes a buffer and anti-sway device for an AUV deployment and recovery system, comprising an AUV bracket, an electric winch at one end of the AUV bracket, and a gripper assembly slidably mounted on the AUV bracket. The gripper assembly includes a U-shaped frame, with guide strips fixed to the lower parts of both ends of the U-shaped frame. Each guide strip has a sliding component for sliding connection with the AUV bracket. A common portal frame is fixed to the ends of the two guide strips away from the U-shaped frame. A recessed portion is formed at the center of the top of the portal frame. A rectangular notch is provided at the top of the U-shaped frame. A cylindrical portion is provided at the center of the top of the U-shaped frame. A vertical block is provided near the cylindrical portion at the top of the U-shaped frame. A rectangular notch is provided at the top of the vertical block, and a curved arm is hinged within the rectangular notch. A rectangular groove is provided at the upper end of the curved arm. Furthermore, a guide wheel is rotatably arranged inside the rectangular groove. Hinges are provided on both sides of the U-shaped frame near the rectangular opening, and clamping arms are hinged to both hinges. The two clamping arms are symmetrically arranged. A movable column is inserted inside the cylindrical section. A metal tube is fixed at the middle of the top of the movable column, and the top of the metal tube passes through the top of the cylindrical section. A second spring is sleeved on the inner wall of the cylindrical section near the top of the movable column. An annular protrusion is provided at the top of the metal tube. A waist-shaped hole is provided at the lower end of the curved arm, and the metal tube passes through the waist-shaped hole. A wire-passing hole is provided on the metal tube, penetrating the movable column. An annular groove is provided on the movable column. A linkage part is provided on the upper part of the clamping arm, and the end of the linkage part is located within the annular groove. A steel cable is wound on the electric winch, with one end of the steel cable passing through the wire-passing hole. A hook is provided at the end of the steel cable away from the electric winch.

[0006] As a further optimization of this technical solution, the present invention provides a buffer and anti-sway device and method for an AUV deployment and recovery system. The AUV support includes a support frame, a mounting plate is fixedly installed at one end of the support frame, the two sides of the mounting plate are bent to form hinged portions, U-shaped ribs are provided at equal intervals on the inner side of the support frame, and grooves are provided on both sides of the upper part of the support frame. The top of the U-shaped ribs is located in the grooves, and the end of the groove near the mounting plate is bent downward to form a bend, and one end of the bend is fixedly connected to the top of the mounting plate.

[0007] In this preferred embodiment, the hinged part is used to be hinged to the movable frame on the shipborne AUV deployment platform, and to adjust the angle in conjunction with the angle adjustment cylinder on the shipborne AUV deployment platform.

[0008] As a further optimization of this technical solution, the present invention provides a buffer anti-sway device and method for an AUV take-up and take-off system, wherein the mounting plate is provided with a semi-circular notch on the side near the gripper assembly.

[0009] In this preferred embodiment, the mounting plate is adapted to the head of the AUV equipment.

[0010] As a further optimization of this technical solution, the present invention provides a buffer and anti-sway device and method for an AUV deployment and take-off system. The AUV support frame has tail plate assemblies on both sides at the end away from the electric winch. Each tail plate assembly includes a tail plate hinged to the end edge of the AUV support frame. The end of the tail plate away from the AUV support frame is bent to form an outward-facing portion. The tail plate assembly also includes a rotating shaft, which is rotatably connected to the AUV support frame. A gear is provided at the lower end of the rotating shaft. A first linkage arm is provided at the top of the rotating shaft, and a second linkage arm is hinged to the end of the first linkage arm away from the rotating shaft. A sleeve is fixed to the end of the second linkage arm away from the first linkage arm. A hinge block is fixed to the side wall of the tail plate. A metal shaft is provided on the upper part of the hinge block, and the metal shaft is rotatably connected to the sleeve. A shaft hole is provided on the groove, and the rotating shaft is rotatably disposed within the shaft hole. The sliding... The AUV bracket is equipped with a linkage component for driving gear rotation. Tail support plate assemblies are provided on both sides of the end away from the electric winch. Each tail support plate assembly includes a tail support plate hinged to the end edge of the AUV bracket. The end of the tail support plate away from the AUV bracket is bent to form an outward-facing portion. The tail support plate assembly also includes a rotating shaft, which is rotatably connected to the AUV bracket. A gear is provided at the lower end of the rotating shaft. A first linkage arm is provided at the top of the rotating shaft, and a second linkage arm is hinged to the end of the first linkage arm away from the rotating shaft. A sleeve is fixed to the end of the second linkage arm away from the first linkage arm. A hinge block is fixed to the side wall of the tail support plate. A metal shaft is provided on the upper part of the hinge block, and the metal shaft is rotatably connected to the sleeve. A shaft hole is provided on the groove, and the rotating shaft is rotatably disposed within the shaft hole. The sliding assembly is equipped with a linkage component for driving gear rotation.

[0011] As a further optimization of this technical solution, the present invention provides a buffer and anti-sway device and method for an AUV take-up and take-off system, wherein support blocks are provided on both sides of the U-shaped rib, and the support blocks are provided with notches adapted to the bearing frame, and the notches of the support blocks are welded and fixed to the bearing frame.

[0012] In this preferred embodiment, the linkage component can drive the gear to rotate as the sliding component slides, thereby driving the rotating shaft to rotate, which in turn drives the first linkage arm to rotate, pulling the second linkage arm. In conjunction with the sleeve, the tail support plate is pulled to rotate, so that the two tail support plates can be closed together to provide tail support for the AUV that is stored on the AUV bracket.

[0013] As a further optimization of this technical solution, the present invention provides a buffer and anti-sway device and method for an AUV take-up and take-off system, wherein the support frame has a U-shaped structure, and the end of the support frame away from the mounting plate is recessed downward to form a U-shaped bend.

[0014] As a further optimization of this technical solution, the present invention provides a buffer anti-sway device and method for an AUV take-up and take-off system. The sliding component includes a movable seat slidably disposed on a groove bar. A guide block is disposed on the side wall of the movable seat, and a guide sleeve is disposed on the upper part of the guide block. The guide bar is inserted into the guide sleeve, and a limit cap is disposed on the end of the guide bar away from the U-shaped frame.

[0015] As a further optimization of this technical solution, the present invention provides a buffer and anti-sway device and method for an AUV retraction and deployment system. The linkage component includes a rectangular bar. A guide block is provided with an insertion hole extending along the length of the guide block, and the rectangular bar is inserted into the insertion hole. A stop block is provided at one end of the rectangular bar near the tail plate. A toothed portion is provided at equal intervals at one end of the rectangular bar near the stop block. A protrusion is provided at one end of the rectangular bar away from the toothed portion, and a pull rod is provided on the protrusion. A circular hole is provided on the guide block extending along its length direction, and the pull rod is inserted into the circular hole. A first spring is sleeved on the outer circumference of the pull rod between the guide block and the protrusion. A limit block is provided at one end of the pull rod away from the protrusion.

[0016] As a further optimization of this technical solution, the present invention provides a buffer anti-sway device and method for an AUV take-up and take-off system, wherein the lower end of the clamping arm is provided with a hook portion that bends toward the movable column, and the clamping arm is provided with a rotating shaft, and the rotating shaft is rotatably connected to the hinge seat.

[0017] A method of using a buffer anti-sway device for an AUV take-up and take-off system, characterized by comprising the following steps:

[0018] S1: Initial clamping. By controlling the operation of the electric winch, the steel cable is wound up and the AUV fixed on the hook is pulled. When the AUV is pulled to the tail of the support frame, the AUV is placed in the gripper assembly. Under the pulling force, the AUV will hit the movable column, causing the movable column to move upward. In conjunction with the set annular groove, the two clamping arms will rotate to clamp the AUV and reduce the swaying of the device with the water flow.

[0019] S2: Pulling onto the frame: Continue to control the electric winch to wind up the steel cable, causing the gripper assembly to clamp the AUV and slide it onto the AUV bracket. The rectangular bar is set up, and as it is being pulled, when the teeth engage with the gears, it causes the gears to rotate, thereby cooperating with the first and second linkage arms to cause the two tail support plates to close together and support the tail end of the AUV.

[0020] S3: Tensioning and locking. The electric winch continues to wind up the steel cable and, in conjunction with the set curved arm, drives the curved arm to rotate, supporting the metal tube, limiting its fall back to its original position, and preventing the clamp arm from loosening.

[0021] In summary, the beneficial effects of this invention are as follows:

[0022] 1. This invention provides a buffer and anti-sway device and method for an AUV deployment and recovery system. Through the set gripper assembly and the set steel cable, the two gripper arms can be brought close together during the pulling of the AUV to clamp and fix the AUV, which can play a certain role in fixing the AUV and reduce the shaking during the AUV recovery process, thus achieving the purpose of anti-sway. At the same time, the gripper assembly will be pulled back along with the AUV, which will have a continuous stabilizing effect and keep the AUV in a relatively stable state when pulled onto the AUV support.

[0023] 2. This invention provides a buffer and anti-sway device and method for an AUV retraction and deployment system. By setting a tail support plate assembly and combining it with a linkage assembly set on the sliding assembly, the two tail support plates can be brought together and enclosed as the gripper assembly retracts, which can support the tail of the AUV, prevent the AUV from slipping off the AUV bracket, and improve the stability of the equipment. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a buffer and anti-sway device for an AUV take-up and take-off system proposed in this invention;

[0025] Figure 2 This is a schematic diagram of the structure of an AUV support bracket for a buffer and anti-sway device used in an AUV take-up and take-off system proposed in this invention.

[0026] Figure 3 This is a schematic diagram of the structure of a buffer anti-sway device mounting plate for an AUV take-up and take-off system proposed in this invention;

[0027] Figure 4 This is a schematic diagram of the structure of a U-shaped rib for a buffer and anti-sway device used in an AUV take-up and take-off system proposed in this invention;

[0028] Figure 5 This is a schematic diagram of the sliding component and tail support plate component of the buffer anti-sway device for an AUV take-up and take-off system proposed in this invention.

[0029] Figure 6 This is a schematic diagram of the gripper assembly of a buffer anti-sway device for an AUV take-up and take-off system proposed in this invention.

[0030] Figure 7 This is a schematic diagram of the clamping arm and movable column of a buffer anti-sway device for an AUV take-up and take-off system proposed in this invention.

[0031] Figure 8 This is a schematic diagram of the U-shaped frame of a buffer and anti-sway device for an AUV take-up and take-off system proposed in this invention.

[0032] In the diagram: 1. AUV bracket; 101. Bearing frame; 1011. U-shaped bend; 102. Mounting plate; 1021. Semi-circular notch; 103. Hinge; 104. Groove; 1041. Bending section; 1042. Shaft hole; 105. U-shaped rib; 1051. Support block; 2. Electric winch; 3. Steel cable; 301. Hook; 4. Sliding assembly; 401. Movable seat; 402. Guide sleeve; 403. Guide block; 404. Tie rod; 405. First spring; 406. Protrusion; 407. Rectangular strip; 408. Toothed part; 5. Tail support plate assembly; 501. Gear; 502. Rotating shaft; 503. First linkage arm; 504, Second linkage arm; 5041, Sleeve; 505, Hinge block; 506, Tail support plate; 5061, Outward turning part; 6, Gripper assembly; 601, Guide bar; 602, U-shaped frame; 603, Hinge seat; 604, Rectangular notch; 605, Grip arm; 6051, Hook part; 6052, Rotating shaft; 606, Cylindrical part; 607, Vertical block; 608, Curved arm; 6081, Waist-shaped hole; 609, Guide wheel; 610, Portal frame; 6101, Recessed part; 611, Movable column; 612, Annular groove; 613, Second spring; 614, Metal tube; 6141, Wire through hole. Detailed Implementation

[0033] The following will refer to the appendices in the embodiments of the present invention. Figures 1-8 The technical solutions in the embodiments of the present invention are clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0034] Reference Figure 1-8A buffer and anti-sway device for an AUV deployment and take-off system includes an AUV bracket 1. An electric winch 2 is mounted at one end of the AUV bracket 1. A gripper assembly 6 is slidably mounted on the AUV bracket 1. The gripper assembly 6 includes a U-shaped frame 602. Guide bars 601 are fixed to the lower parts of both ends of the U-shaped frame 602. Each guide bar 601 is equipped with a sliding component 4 to achieve a sliding connection with the AUV bracket 1. A common portal frame 61 is fixed to the end of each guide bar 601 away from the U-shaped frame 602. 0. The gantry frame 610 has a recessed section 6101 at the top center. The U-shaped frame 602 has a rectangular notch 604 at the top. The U-shaped frame 602 has a cylindrical section 606 at the top center. A vertical block 607 is located near the cylindrical section 606 at the top of the U-shaped frame 602. The vertical block 607 has a rectangular notch at the top, and a curved arm 608 is hinged within the rectangular notch. The upper end of the curved arm 608 has a rectangular groove, and a guide wheel 609 is rotatably mounted within the rectangular groove. Hinges 603 are provided on both sides of the frame 602 near the rectangular notches 604, and clamping arms 605 are hinged to each of the two hinges 603. The two clamping arms 605 are symmetrically arranged. A movable column 611 is inserted into the cylindrical part 606. A metal tube 614 is fixed at the middle of the top of the movable column 611, and the top of the metal tube 614 passes through the top of the cylindrical part 606. A second spring 613 is sleeved on the inner wall of the cylindrical part 606 near the top of the movable column 611. An annular ring is provided at the top of the metal tube 614. The lower end of the curved arm 608 is provided with a waist-shaped hole 6081, and a metal tube 614 passes through the waist-shaped hole 6081. The metal tube 614 is provided with a wire-passing hole 6141 that passes through the movable column 611. The movable column 611 is provided with an annular groove 612. The upper part of the clamping arm 605 is provided with a linkage part, and the end of the linkage part is located in the annular groove 612. A steel cable 3 is wound on the electric winch 2, and one end of the steel cable 3 passes through the wire-passing hole 6141. A hook 301 is provided at the end of the steel cable 3 away from the electric winch 2.

[0035] See attached document Figure 2 The AUV support 1 includes a support frame 101. A mounting plate 102 is fixedly installed at one end of the support frame 101. The mounting plate 102 is bent on both sides to form a hinge portion 103. U-shaped ribs 105 are evenly distributed on the inner side of the support frame 101. Grooves 104 are provided on both sides of the upper part of the support frame 101. The top of the U-shaped ribs 105 is located in the groove 104. The groove 104 is bent downward at the end near the mounting plate 102 to form a bending portion 1041. One end of the bending portion 1041 is fixedly connected to the top of the mounting plate 102. The hinge portion 103 is used to hinge and install with the movable frame on the shipborne AUV deployment platform, and to adjust the angle in conjunction with the angle adjustment cylinder on the shipborne AUV deployment platform.

[0036] See attached document Figure 3 The mounting plate 102 has a semi-circular notch 1021 on the side near the gripper assembly 6, and the mounting plate 102 is adapted to the head of the AUV equipment.

[0037] See attached document Figure 1 and 5 The AUV support frame 1 has tail support plate assemblies 5 on both sides of the end away from the electric winch 2. Each tail support plate assembly 5 includes a tail support plate 506 hinged to the end edge of the AUV support frame 1. The end of the tail support plate 506 away from the AUV support frame 1 is bent to form an outwardly folded portion 5061. The tail support plate assembly 5 also includes a rotating shaft 502, which is rotatably connected to the AUV support frame 1. A gear 501 is provided at the lower end of the rotating shaft 502, and a first linkage arm 503 is provided at the top of the rotating shaft 502. A second linkage arm 504 is hinged to the end of the first linkage arm 503 away from the rotating shaft 502, and a sleeve 5041 is fixed to the end of the second linkage arm 504 away from the first linkage arm 503. The sidewalls of the tail support plate 506 are fixed... A hinge block 505 is provided, and a metal shaft is provided on the upper part of the hinge block 505. The metal shaft is rotatably connected to the sleeve 5041. A shaft hole 1042 is provided on the groove 104, and the rotating shaft 502 is rotatably disposed in the shaft hole 1042. A linkage component for driving the gear 501 to rotate is provided on the sliding component 4. Through the linkage component, the gear 501 can be driven to rotate as the sliding component 4 slides, thereby driving the rotating shaft 502 to rotate, driving the first linkage arm 503 to rotate, pulling the second linkage arm 504, and cooperating with the sleeve 5041 to pull the tail support plate 506 to rotate, so that the two tail support plates 506 can surround and approach each other, which can support the tail of the AUV that is stored on the AUV bracket 1.

[0038] See attached document Figure 4 The U-shaped rib 105 is provided with support blocks 1051 on both sides, and the support blocks 1051 are provided with notches that are adapted to the bearing frame 101. The notches of the support blocks 1051 are welded and fixed to the bearing frame 101.

[0039] The support frame 101 has a U-shaped structure, and the end of the support frame 101 away from the mounting plate 102 is recessed downward to form a U-shaped bend 1011.

[0040] See attached document Figure 5 The sliding component 4 includes a movable seat 401 slidably disposed on the groove 104. A guide block 403 is disposed on the side wall of the movable seat 401, and a guide sleeve 402 is disposed on the upper part of the guide block 403. The guide strip 601 is inserted into the guide sleeve 402, and a limit cap is disposed on the end of the guide strip 601 away from the U-shaped frame 602.

[0041] See attached document Figure 5 The linkage component includes a rectangular strip 407. The guide block 403 has an insertion hole extending along the length of the guide block 403, and the rectangular strip 407 is inserted into the insertion hole. A stop block is provided at one end of the rectangular strip 407 near the tail support plate 506. Equally spaced teeth 408 are provided at one end of the rectangular strip 407 near the stop block. A protrusion 406 is provided at one end of the rectangular strip 407 away from the teeth 408, and a pull rod 404 is provided on the protrusion 406. A circular hole extending along its length is provided on the guide block 403, and the pull rod 404 is inserted into the circular hole. A first spring 405 is sleeved between the guide block 403 and the protrusion 406 on the outer circumference of the pull rod 404. A limit block is provided at one end of the pull rod 404 away from the protrusion 406.

[0042] The lower end of the clamping arm 605 is provided with a hook portion 6051 that bends toward the movable column 611. The clamping arm 605 is provided with a rotating shaft 6052, and the rotating shaft 6052 is rotatably connected to the hinge seat 603.

[0043] A method of using a buffer anti-sway device for an AUV take-up and take-off system, characterized by comprising the following steps:

[0044] S1: Initial clamping. By controlling the operation of the electric winch 2, the steel cable 3 is wound up and the AUV fixed on the hook 301 is pulled. When the AUV is pulled to the tail of the support frame 101, the AUV is placed in the gripper assembly 6. Under the pulling force, the AUV will hit the movable column 611, causing the movable column 611 to move upward. In conjunction with the set annular groove 612, the two gripping arms 605 are rotated to clamp the AUV and reduce the swaying of the device with the water flow.

[0045] S2: Pulling onto the frame: Continue to control the electric winch 2 to wind up the steel cable 3, driving the gripper assembly 6 to slide the AUV onto the AUV bracket 1 together. The rectangular bar 407 is set up. During the dragging process, when the toothed part 408 engages with the gear 501, it drives the gear 501 to rotate, thereby cooperating with the first linkage arm 503 and the second linkage arm 504 to drive the two tail support plates 506 to surround and move closer together, supporting the tail end of the AUV.

[0046] S3: Tensioning and locking, the electric winch 2 continues to wind up the steel cable 3, and in conjunction with the set curved arm 608, drives the curved arm 608 to rotate, supporting the metal tube 614, restricting its fall back and resetting, and preventing the clamp arm 605 from loosening.

[0047] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0048] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0049] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0050] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A buffer and anti-sway device for an AUV take-up and take-off system, comprising an AUV support (1), characterized in that: An electric winch (2) is provided at one end of the AUV bracket (1). A gripper assembly (6) is slidably provided on the AUV bracket (1). The gripper assembly (6) includes a U-shaped frame (602). Guide strips (601) are fixed at the lower parts of both ends of the U-shaped frame (602). Each of the two guide strips (601) is provided with a sliding component (4) to achieve sliding connection with the AUV bracket (1). The same portal frame (610) is fixed at the end of the two guide strips (601) away from the U-shaped frame (602). The portal frame (610) has a recess at the middle of its top to form a lower... The U-shaped frame (602) has a recess (6101), a rectangular notch (604) at the top, a cylindrical part (606) at the middle of the top of the U-shaped frame (602), a vertical block (607) near the cylindrical part (606) at the top of the U-shaped frame (602), a rectangular notch at the top of the vertical block (607), and a hinged arm (608) within the rectangular notch. A rectangular groove is provided at the upper end of the hinged arm (608), and a guide wheel (609) is rotatably mounted within the rectangular groove. The U-shaped frame (602) has two sides near the rectangular notch (604). A hinge seat (603) is provided at each of the two hinge seats (603), and a clamping arm (605) is hinged in each of the two hinge seats (603). The two clamping arms (605) are arranged symmetrically. A movable column (611) is inserted into the cylindrical part (606). A metal tube (614) is fixed at the middle position of the top of the movable column (611), and the top of the metal tube (614) passes through the top of the cylindrical part (606). A second spring (613) is sleeved on the inner wall of the cylindrical part (606) near the top of the movable column (611). An annular protrusion is provided at the top of the metal tube (614). The lower part of the curved arm (608) The end is provided with a waist-shaped hole (6081), and a metal tube (614) passes through the waist-shaped hole (6081). The metal tube (614) is provided with a wire-passing hole (6141) that passes through the movable column (611). The movable column (611) is provided with an annular groove (612). The upper part of the clamping arm (605) is provided with a linkage part, and the end of the linkage part is located in the annular groove (612). A steel cable (3) is wound on the electric winch (2), and one end of the steel cable (3) passes through the wire-passing hole (6141). A hook (301) is provided at the end of the steel cable (3) away from the electric winch (2). The AUV support (1) includes a support frame (101), and grooves (104) are provided on both sides of the upper part of the support frame (101); tail support plate assemblies (5) are provided on both sides of the end of the AUV support (1) away from the electric winch (2), and the tail support plate assembly (5) also includes a rotating shaft (502), the rotating shaft (502) is rotatably connected to the AUV support (1), a gear (501) is provided at the lower end of the rotating shaft (502), and a first linkage arm (503) is provided at the top of the rotating shaft (502), and the first linkage arm (503) is away from the rotating shaft (502). One end of the first linkage arm (503) is hinged to a second linkage arm (504), and the second linkage arm (504) is far from the first linkage arm (503) and has a sleeve (5041) fixed at one end. The tail support plate (506) has a hinge block (505) fixed on its side wall. The hinge block (505) has a metal shaft on its upper part. The metal shaft and the sleeve (5041) form a rotatable connection. The groove (104) has a shaft hole (1042), and the rotating shaft (502) is rotatably disposed in the shaft hole (1042). The sliding component (4) has a linkage component for driving the gear (501) to rotate. The sliding assembly (4) includes a movable seat (401) slidably disposed on the groove (104), a guide block (403) is provided on the side wall of the movable seat (401), and a guide sleeve (402) is provided on the upper part of the guide block (403). The guide strip (601) is inserted into the guide sleeve (402), and a limit cap is provided at the end of the guide strip (601) away from the U-shaped frame (602). The linkage assembly includes a rectangular strip (407), and an insertion hole is provided on the guide block (403) extending along the length of the guide block (403). The rectangular strip (407) is inserted into the insertion hole, and the rectangular strip (407) is close to the tail support plate. (506) A stop is provided at one end. The rectangular strip (407) has teeth (408) evenly distributed at one end near the stop. A protrusion (406) is provided at one end of the rectangular strip (407) away from the teeth (408). A pull rod (404) is provided on the protrusion (406). A circular hole extending along its length is provided on the guide block (403). The pull rod (404) is inserted into the circular hole. A first spring (405) is sleeved between the guide block (403) and the protrusion (406) on the outer circumference of the pull rod (404). A limit block is provided at one end of the pull rod (404) away from the protrusion (406).

2. The buffer and anti-sway device for an AUV take-up and take-off system according to claim 1, characterized in that, The support frame (101) is fixedly provided with a mounting plate (102) at one end. The mounting plate (102) is bent on both sides to form a hinge (103). The support frame (101) is provided with U-shaped ribs (105) evenly distributed on the inner side. The top of the U-shaped ribs (105) is provided in the groove (104). The groove (104) is bent downward at one end near the mounting plate (102) to form a bending part (1041), and one end of the bending part (1041) is fixedly connected to the top of the mounting plate (102).

3. A buffer and anti-sway device for an AUV take-up and take-off system according to claim 2, characterized in that, The mounting plate (102) has a semi-circular notch (1021) on the side near the gripper assembly (6).

4. A buffer and anti-sway device for an AUV take-up and take-off system according to claim 3, characterized in that, Support blocks (1051) are provided on both sides of the U-shaped rib (105), and the support blocks (1051) are provided with notches that are adapted to the bearing frame (101). The notches of the support blocks (1051) are welded and fixed to the bearing frame (101).

5. A buffer and anti-sway device for an AUV take-up and take-off system according to claim 4, characterized in that, The support frame (101) has a U-shaped structure, and the end of the support frame (101) away from the mounting plate (102) is recessed downward to form a U-shaped bend (1011).

6. A buffer and anti-sway device for an AUV take-up and take-off system according to claim 5, characterized in that, The lower end of the clamping arm (605) is provided with a hook (6051) that bends toward the movable column (611). The clamping arm (605) is provided with a rotating shaft (6052), and the rotating shaft (6052) is rotatably connected to the hinge seat (603).

7. The method of using the buffer and anti-sway device for an AUV take-up and take-off system according to claim 6, characterized in that, Includes the following steps: S1: Initial clamping, by controlling the operation of the electric winch (2), the steel cable (3) is wound up and the AUV fixed on the hook (301) is pulled. When the AUV is pulled to the tail of the support frame (101), the AUV is placed in the gripper assembly (6). Under the pulling force, the AUV will hit the movable column (611), which will drive the movable column (611) to move upward. In conjunction with the set annular groove (612), it will drive the two gripping arms (605) to rotate, clamp the AUV, and reduce the swaying of the device with the water flow. S2: Pulling onto the frame: Continue to control the electric winch (2) to wind up the steel cable (3), and drive the gripper assembly (6) to slide the AUV onto the AUV bracket (1). The rectangular bar (407) is set up. During the dragging process, when the toothed part (408) engages with the gear (501), it drives the gear (501) to rotate, thereby cooperating with the first linkage arm (503) and the second linkage arm (504) to drive the two tail support plates (506) to close together and support the tail end of the AUV. S3: Tension and lock, continue to wind up the steel cable (3) through the electric winch (2), and in conjunction with the set curved arm (608), drive the curved arm (608) to rotate, support the metal tube (614), restrict its fall back and reset, and prevent the clamp arm (605) from loosening.

Images