An underwater vehicle deployment and recovery device and its buffer

Abstract

The present invention relates to the field of underwater vehicle recovery technology, and in particular to an underwater vehicle deployment and recovery device and its buffer. The underwater vehicle deployment and recovery device includes a base, on which a mechanical gripper and a buffer are provided. The buffer includes a buffer cylinder, which has an opening, and an elastic buffer ring is fixed on the edge of the opening. The elastic buffer ring has a circular hole, and the diameter of the circular hole is smaller than the diameter of the vehicle head. When the vehicle head enters the buffer cylinder from the circular hole, the inner edge of the elastic buffer ring moves into the buffer cylinder, and the diameter of the circular hole gradually increases to be equal to the diameter of the vehicle head. When the vehicle head is subjected to the reaction force from the rear of the buffer cylinder, the inner edge of the elastic buffer ring moves from the inside of the buffer cylinder to the outside of the buffer cylinder along with the vehicle head. In the process of the vehicle head entering the buffer cylinder from the circular hole, the vehicle head is subjected to the wrapping force of the elastic buffer ring, so that the speed of the vehicle is gradually reduced, thereby achieving buffering of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicle recovery, and in particular to an underwater vehicle deployment and recovery device and a buffer thereof. Background Art

[0002] As a vital tool for developing marine resources and exploring underwater space, underwater vehicles offer advantages such as maneuverability, long-term efficiency, omnidirectional observation, and covert operation. As underwater exploration missions become increasingly complex and diverse, higher demands are placed on underwater vehicles for long-term exploration operations and timely data transmission. However, due to the limitations of the vehicles' inherent energy resources and underwater communication technology, these exploration missions, such as long flight times and the transmission of large amounts of data, are difficult to achieve. This challenge requires the use of pre-deployed underwater deployment and recovery devices as energy and information transmission relays.

[0003] A Chinese invention patent application with application publication number CN113306687A discloses a deployment and recovery device for unmanned underwater vehicles, comprising a chassis, a base plate, a five-axis robotic arm, a manipulator, and an end stopper. The chassis is disposed at one end of the chassis, the head end of the five-axis robotic arm is rotatably mounted on the chassis, the end of the five-axis robotic arm is connected to the manipulator, and the end of the manipulator is connected to the end stopper, which has an opening facing the manipulator. During recovery, the five-axis robotic arm drives the manipulator to extend into the sea surface, the vehicle swims above the manipulator, the head of the vehicle first enters the interior of the end stopper, and then the manipulator grips the vehicle to achieve the vehicle grabbing operation; thereafter, the five-axis robotic arm drives the manipulator out of the sea surface and retracts it onto the base plate to achieve the vehicle recovery operation. Conversely, the deployment operation of the vehicle is achieved.

[0004] In the existing technology, when the speed of the aircraft is relatively high, the head of the aircraft will collide with the bottom of the end limiter when entering the end limiter. The reaction force generated by the collision can easily cause the head of the aircraft to separate from the end limiter, thereby causing the manipulator to be unable to hold the aircraft tightly, affecting the recovery of the aircraft. Summary of the Invention

[0005] The purpose of the present invention is to provide an underwater vehicle deployment and recovery device to solve the technical problem in the prior art that the end limiter of the deployment and recovery device will produce a reaction force on the vehicle, which may easily cause the head of the vehicle to separate from the end limiter, and further cause the manipulator to be unable to hold the vehicle tightly; the purpose of the present invention is also to provide a buffer of the underwater vehicle deployment and recovery device to solve the technical problem in the prior art that the end limiter will produce a reaction force on the vehicle, which may easily cause the head of the vehicle to separate from the end limiter.

[0006] To achieve the above-mentioned purpose, the technical solution of the buffer of the underwater vehicle deployment and recovery device of the present invention is:

[0007] The buffer of the underwater vehicle deployment and recovery device includes a buffer cylinder for installation on a base, the buffer cylinder having an opening for facing the mechanical gripper, the opening of the buffer cylinder is defined to face forward, an elastic buffer ring is fixed on the edge of the opening, the elastic buffer ring has a circular hole, the diameter of the circular hole is smaller than the diameter of the vehicle head, when the vehicle head enters the buffer cylinder through the circular hole, the inner edge of the elastic buffer ring moves into the buffer cylinder, and the diameter of the circular hole gradually increases to be equal to the diameter of the vehicle head; when the vehicle head is subjected to the reaction force of the rear part of the buffer cylinder, the inner edge of the elastic buffer ring moves from the inside of the buffer cylinder to the outside of the buffer cylinder along with the vehicle head.

[0008] The beneficial effect is that as the head of the aircraft enters the buffer cylinder through the circular hole, the inner edge of the elastic buffer ring moves into the buffer cylinder, i.e., the elastic buffer ring deforms inward. Because the diameter of the circular hole is smaller than the diameter of the aircraft head, as the diameter of the circular hole gradually increases to equal the diameter of the aircraft head, the wrapping force of the elastic buffer ring on the aircraft head continuously increases, i.e., the friction force gradually increases, causing the aircraft speed to gradually decrease, thereby providing cushioning for the aircraft. When the initial docking speed of the aircraft is low, due to the friction force, the aircraft and the rear cover of the buffer cylinder do not collide, or collide with the collision force but the collision force is small, resulting in no or minimal rebound of the aircraft, thereby preventing the aircraft from disengaging from the buffer cylinder. When the initial docking speed of the aircraft is too high, after entering the buffer cylinder, the aircraft is subjected to a large recoil force from the cover, causing it to move backward. At this time, the inner edge of the elastic buffer ring moves with the aircraft head from the inside to the outside of the buffer cylinder, i.e., the elastic buffer ring deforms outward. This process creates a plugging effect, thereby preventing the aircraft from disengaging from the buffer cylinder and ensuring that the aircraft does not disengage from the buffer cylinder. Therefore, it is ensured that the mechanical gripper can hold the aircraft tightly.

[0009] As a further improvement, the elastic buffer ring is a rubber ring.

[0010] The beneficial effects are: the rubber ring has good elasticity and low cost.

[0011] As a further improvement, a sealing plate is provided at the rear of the buffer cylinder, and an avoidance recess is provided on the inner side of the sealing plate.

[0012] The beneficial effect is that, with this design, after the head of the vehicle enters the buffer cylinder, the inner cavity of the buffer cylinder is a closed cavity, and the gas in the closed cavity is not easily compressed, thereby further improving the buffering performance.

[0013] As a further improvement, a visual module is provided on the buffer cylinder, and the buffer also includes a U-shaped frame with an upward opening. The buffer cylinder is located in the U-shaped frame. A first driving mechanism for driving the buffer cylinder to move in the up and down directions is provided between the U-shaped frame and the buffer cylinder. The U-shaped frame is also provided with a second driving mechanism for driving the U-shaped frame to move in the left and right directions.

[0014] The beneficial effect is: after the visual module recognizes the position of the aircraft, the first drive mechanism and the second drive mechanism are used to realize the movement of the buffer cylinder in the up and down directions and left and right directions, so that the axis of the circular hole on the buffer cylinder and the axis of the aircraft are quickly coincident.

[0015] As a further improvement, the buffer cylinder is a square cylinder.

[0016] The beneficial effect is that since the outer surface of the square cylinder is a plane, compared with the circular cylinder, this is conducive to the arrangement of the vision module and the corresponding driving mechanism.

[0017] As a further improvement, the U-shaped frame includes two vertical plates and one horizontal plate, the first driving mechanism is a vertical screw nut mechanism arranged on the corresponding vertical plates, and the second driving mechanism is a horizontal screw nut mechanism arranged on the lower side of the horizontal plate.

[0018] The beneficial effect is that the transmission method is relatively simple and does not take up much space.

[0019] As a further improvement, the vision module is arranged on the top of the buffer cylinder.

[0020] The beneficial effect is that such a design is conducive to the visual module observing the aircraft.

[0021] As a further improvement, the vision module is a binocular camera.

[0022] The beneficial effect is that the binocular camera has high recognition accuracy, which is conducive to quickly identifying aircraft in water.

[0023] To achieve the above-mentioned purpose, the technical solution of the underwater vehicle deployment and recovery device of the present invention is:

[0024] An underwater vehicle deployment and recovery device includes a base, a mechanical claw and a buffer are provided on the base, the buffer is located behind the mechanical claw, the buffer includes a buffer cylinder for installation on the base, the buffer cylinder has an opening for facing the mechanical claw, the opening of the buffer cylinder is defined to face forward, an elastic buffer ring is fixed on the edge of the opening, the elastic buffer ring has a circular hole, the diameter of the circular hole is smaller than the diameter of the vehicle head, when the vehicle head enters the buffer cylinder through the circular hole, the inner edge of the elastic buffer ring moves into the buffer cylinder, and the diameter of the circular hole gradually increases to be equal to the diameter of the vehicle head; when the vehicle head is subjected to a reaction force from the rear of the buffer cylinder, the inner edge of the elastic buffer ring moves from the inside of the buffer cylinder to the outside of the buffer cylinder along with the vehicle head.

[0025] The beneficial effect is that as the head of the aircraft enters the buffer cylinder through the circular hole, the inner edge of the elastic buffer ring moves into the buffer cylinder, i.e., the elastic buffer ring deforms inward. Because the diameter of the circular hole is smaller than the diameter of the aircraft head, as the diameter of the circular hole gradually increases to equal the diameter of the aircraft head, the wrapping force of the elastic buffer ring on the aircraft head continuously increases, i.e., the friction force gradually increases, causing the aircraft speed to gradually decrease, thereby providing cushioning for the aircraft. When the initial docking speed of the aircraft is low, due to the friction force, the aircraft and the rear cover of the buffer cylinder do not collide, or collide with the collision force but the collision force is small, resulting in no or minimal rebound of the aircraft, thereby preventing the aircraft from disengaging from the buffer cylinder. When the initial docking speed of the aircraft is too high, after entering the buffer cylinder, the aircraft is subjected to a large recoil force from the cover, causing it to move backward. At this time, the inner edge of the elastic buffer ring moves with the aircraft head from the inside to the outside of the buffer cylinder, i.e., the elastic buffer ring deforms outward. This process creates a plugging effect, thereby preventing the aircraft from disengaging from the buffer cylinder and ensuring that the aircraft does not disengage from the buffer cylinder. Therefore, it is ensured that the mechanical gripper can hold the aircraft tightly.

[0026] As a further improvement, the elastic buffer ring is a rubber ring.

[0027] The beneficial effects are: the rubber ring has good elasticity and low cost.

[0028] As a further improvement, a sealing plate is provided at the rear of the buffer cylinder, and an avoidance recess is provided on the inner side of the sealing plate.

[0029] The beneficial effect is that, with this design, after the head of the vehicle enters the buffer cylinder, the inner cavity of the buffer cylinder is a closed cavity, and the gas in the closed cavity is not easily compressed, thereby further improving the buffering performance.

[0030] As a further improvement, a visual module is provided on the buffer cylinder, and the buffer also includes a U-shaped frame with an upward opening. The buffer cylinder is located in the U-shaped frame. A first driving mechanism for driving the buffer cylinder to move in the up and down directions is provided between the U-shaped frame and the buffer cylinder. The U-shaped frame is also provided with a second driving mechanism for driving the U-shaped frame to move in the left and right directions.

[0031] The beneficial effect is: after the visual module recognizes the position of the aircraft, the first drive mechanism and the second drive mechanism are used to realize the movement of the buffer cylinder in the up and down directions and left and right directions, so that the axis of the circular hole on the buffer cylinder and the axis of the aircraft are quickly coincident.

[0032] As a further improvement, the buffer cylinder is a square cylinder.

[0033] The beneficial effect is that since the outer surface of the square cylinder is a plane, compared with the circular cylinder, this is conducive to the arrangement of the vision module and the corresponding driving mechanism.

[0034] As a further improvement, the U-shaped frame includes two vertical plates and one horizontal plate, the first driving mechanism is a vertical screw nut mechanism arranged on the corresponding vertical plates, and the second driving mechanism is a horizontal screw nut mechanism arranged on the lower side of the horizontal plate.

[0035] The beneficial effect is that the transmission method is relatively simple and does not take up much space.

[0036] As a further improvement, the vision module is arranged on the top of the buffer cylinder.

[0037] The beneficial effect is that such a design is conducive to the visual module observing the aircraft.

[0038] As a further improvement, the vision module is a binocular camera.

[0039] The beneficial effect is that the binocular camera has high recognition accuracy, which is conducive to quickly identifying aircraft in water.

[0040] As a further improvement, the mechanical claws are arranged in at least two groups at intervals along the front-to-back direction.

[0041] The beneficial effect is that such a design can hold the aircraft stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic structural diagram of the underwater vehicle deployment and recovery device of the present invention;

[0043] Figure 2 for Figure 1 Schematic diagram of the structure when the middle buffer moves up and down;

[0044] Figure 3 for Figure 1 Schematic diagram of the structure when the middle buffer moves left and right;

[0045] Figure 4 This is a schematic diagram of the structure of the head of the aircraft entering the limit cylinder of the buffer;

[0046] Figure 5 This is a schematic diagram of the structure when the head of the spacecraft hits the cover and rebounds.

[0047] In the figure: 11, base; 12, spacecraft; 13, mechanical gripper; 14, buffer; 15, binocular camera; 16, U-shaped frame; 17, elastic buffer ring; 18, round hole; 19, vertical screw nut mechanism; 20, avoidance recess; 21, horizontal screw nut mechanism; 22, lifting ring; 23, sealing plate; 24, buffer cylinder. DETAILED DESCRIPTION

[0048] In order to make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present invention and are not intended to limit the present invention. That is, the embodiments described herein are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and illustrated in the drawings herein may be arranged and designed in various different configurations.

[0049] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely intended to represent selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative work are within the scope of protection of the present invention.

[0050] It should be noted that relational terms such as "first" and "second" that may appear are merely used to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, terms such as "include," "comprise," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or device. In the absence of further restrictions, elements defined by the phrase "including a..." do not exclude the presence of other identical elements in the process, method, article, or device that includes the elements. In addition, the terms "front," "back," "up," "down," "left," and "right" are based on the orientation and positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate that the device or component referred to must have a specific orientation, and therefore should not be understood as limiting the present invention.

[0051] The features and performance of the present invention are further described in detail below with reference to the embodiments.

[0052] Embodiment 1 of the underwater vehicle deployment and recovery device of the present invention:

[0053] like Figure 1 As shown, the underwater vehicle deployment and recovery device includes a base 11, on which are mounted mechanical grippers 13 and a buffer 14. The buffer 14 is located behind the mechanical grippers 13. The mechanical grippers 13 are arranged in two groups spaced apart in the fore-and-aft direction to stably grip the vehicle 12. In other embodiments, the mechanical grippers may be provided in a single group, and to ensure a stable grip on the vehicle, the grippers may be longer.

[0054] like Figure 2 and Figure 3 As shown, the buffer 14 includes a buffer tube 24 with an opening facing the mechanical gripper 13, i.e., the opening faces forward. An elastic buffer ring 17 is fixed to the edge of the opening. Preferably, the elastic buffer ring 17 is a rubber ring. In other embodiments, the elastic buffer ring may be made of a plastic with a certain degree of elasticity.

[0055] In this embodiment, the outer edge of the elastic buffer ring 17 is fixed to the edge of the buffer tube 24 by screws. In other embodiments, the outer edge of the elastic buffer ring can be fixed to the edge of the buffer tube by an annular pressure plate.

[0056] In this embodiment, the elastic buffer ring 17 has a circular hole 18 , and the diameter of the circular hole 18 is smaller than the diameter of the head of the aircraft 12 .

[0057] like Figure 4 and Figure 5 As shown, a sealing plate 23 is provided at the rear of the buffer cylinder 24, and an escape recess 20 is provided inside the sealing plate 23. The escape recess 20 is used to avoid the lifting ring 22 at the head of the aircraft 12. This design ensures that after the head of the aircraft 12 enters the buffer cylinder 24, the inner cavity of the buffer cylinder 24 becomes a closed cavity, and the gas in the closed cavity is not easily compressed, further improving the cushioning performance.

[0058] like Figure 1 and Figure 2 As shown, the buffer cylinder 24 is equipped with a vision module, preferably a binocular camera 15, to improve recognition accuracy. The buffer 14 also includes an upward-facing U-shaped frame 16, within which the buffer cylinder 24 is located. A first drive mechanism is provided between the U-shaped frame 16 and the buffer cylinder 24 for vertical movement. The U-shaped frame 16 is also equipped with a second drive mechanism for horizontal movement. This design enables the buffer cylinder 24 to move in both the vertical and horizontal directions.

[0059] Specifically, the buffer cylinder 24 is a square cylinder, the U-shaped frame 16 includes two vertical plates and one horizontal plate, the first drive mechanism is a vertical screw-nut mechanism 19 mounted on the corresponding vertical plate, and the second drive mechanism is a horizontal screw-nut mechanism 21 mounted on the underside of the horizontal plate. The vertical screw-nut mechanism 19 and the horizontal screw-nut mechanism 21 are each driven by a motor, each motor being connected to a control system, which in turn is connected to the binocular camera 15 for signal signals.

[0060] In this embodiment, the binocular camera 15 is disposed on the top of the buffer cylinder 24 to facilitate observation of the aircraft 12. In other embodiments, the binocular camera can be disposed on the left or right side of the buffer cylinder.

[0061] When the aircraft 12 enters the recovery area, the base 11 first uses its own rotation mechanism and pitch mechanism to adjust its own posture in real time, so that the extension direction of the base 11 is basically parallel to the forward direction of the aircraft 12. As the aircraft 12 gradually approaches the base 11, due to the influence of its own motion control accuracy and water flow disturbance, the aircraft 12 and the base 11 will have a posture deviation. At this time, the binocular camera 15 captures the posture changes of the aircraft 12 in real time and feeds its posture data back to the control system. The control system calculates the posture deviation of the aircraft 12 relative to the base 11 and adjusts the position of the buffer tube 24 by controlling the vertical screw nut mechanism 19 and the horizontal screw nut mechanism 21 through the motor, so that the axis of the circular hole 18 basically coincides with the axis of the aircraft 12. The aircraft 12 begins to dock with the buffer 14. As the head of the aircraft 12 enters the buffer tube 24 from the circular hole 18, the inner edge of the elastic buffer ring 17 moves into the buffer tube 24, that is, the elastic buffer ring 17 deforms inward. Since the diameter of the circular hole 18 is smaller than the diameter of the head of the aircraft 12, in the process that the diameter of the circular hole 18 gradually increases to be equal to the diameter of the head of the aircraft 12, the wrapping force of the elastic buffer ring 17 on the head of the aircraft 12 continues to increase, that is, the friction force gradually increases, so that the speed of the aircraft 12 gradually decreases, thereby achieving buffering of the aircraft 12.

[0062] When the initial docking speed between the aircraft 12 and the buffer 14 is relatively low, due to the action of friction, the aircraft 12 does not collide with the rear cover 23 of the buffer cylinder 24, or a collision occurs but the collision force is relatively small, so that the aircraft 12 does not rebound or rebounds slightly, thereby ensuring that the aircraft 12 will not separate from the buffer cylinder 24.

[0063] When the initial docking speed between the aircraft 12 and the buffer 14 is too high, the aircraft 12 enters the buffer tube 24 and is subjected to a large recoil force from the sealing plate 23 and moves backward. At this time, the inner edge of the elastic buffer ring 17 moves from the inside of the buffer tube 24 to the outside of the buffer tube 24 along with the head of the aircraft 12, that is, the elastic buffer ring 17 deforms outward. This process produces a plug-pulling effect, thereby limiting the separation of the aircraft 12 from the buffer tube 24, and also ensuring that the aircraft 12 will not separate from the buffer tube 24.

[0064] After the buffer 14 completely captures the aircraft 12, the buffer 14 gradually returns to its initial state under the drive of the vertical screw nut mechanism 19 and the horizontal screw nut mechanism 21, and the aircraft 12 sits on the base 11. At the same time, the two sets of mechanical claws 13 on the base 11 close to hold the aircraft 12, thereby achieving complete fixation of the aircraft 12.

[0065] The underwater vehicle deployment and recovery device of the present invention can adaptively adjust the position of the buffer tube according to the relative posture deviation between the vehicle and the buffer tube. At the same time, in order to prevent the vehicle from rebounding and detaching due to the reaction force after colliding with the rear cover of the buffer tube, an elastic buffer ring is installed at the opening of the buffer tube. The elastic buffer ring not only buffers the vehicle, but also utilizes the plug-pulling effect during rebound to limit the reverse movement of the vehicle, thereby effectively capturing the vehicle. Finally, the mechanical claws on the base are used to fix the vehicle, realizing dynamic docking and recovery of the underwater vehicle, providing energy replenishment and timely transmission of big data for it to perform long-duration underwater detection missions.

[0066] Embodiment 2 of the underwater vehicle deployment and recovery device of the present invention:

[0067] The difference between this embodiment and embodiment 1 is that in embodiment 1, a sealing plate is provided at the rear of the buffer cylinder, and an escape recess is provided inside the sealing plate. In this embodiment, the rear of the buffer cylinder is an open structure, that is, no sealing plate is provided.

[0068] Embodiment 3 of the underwater vehicle deployment and recovery device of the present invention:

[0069] This embodiment differs from Example 1 in that, in Example 1, a vision module is provided on the buffer cylinder. The buffer includes an upwardly opening U-shaped frame, the buffer cylinder is located within the U-shaped frame, a first drive mechanism is provided between the U-shaped frame and the buffer cylinder for driving the buffer cylinder in the vertical direction, and the U-shaped frame is also provided with a second drive mechanism for driving the U-shaped frame in the horizontal direction. In this embodiment, the vision module is provided on a base, and the buffer cylinder is fixed to the base via a bracket. The base is provided with vertical and horizontal thrusters. The vertical and horizontal thrusters are used to adjust the vertical and horizontal posture of the base, thereby adjusting the vertical and horizontal posture of the buffer cylinder.

[0070] Embodiment 4 of the underwater vehicle deployment and recovery device of the present invention:

[0071] The difference between this embodiment and embodiment 1 is that in embodiment 1, the buffer cylinder is a square cylinder, while in this embodiment, the buffer cylinder is a circular cylinder.

[0072] Embodiment 5 of the underwater vehicle deployment and recovery device of the present invention:

[0073] This embodiment differs from Example 1 in that, in Example 1, the U-shaped frame includes two vertical plates and one horizontal plate, the first drive mechanism is a vertical screw-nut mechanism mounted on the corresponding vertical plate, and the second drive mechanism is a horizontal screw-nut mechanism mounted below the horizontal plate. In this embodiment, the first drive mechanism is a vertical cylinder mounted between the buffer cylinder and the horizontal plate, and the second drive mechanism is a horizontal cylinder mounted below the horizontal plate.

[0074] An embodiment of the buffer of the underwater vehicle deployment and recovery device of the present invention: The buffer of the underwater vehicle deployment and recovery device has the same structure as the buffer described in any one of embodiments 1 to 5 of the underwater vehicle deployment and recovery device, and will not be repeated here.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be based on the claims. Any equivalent structural changes made using the description and drawings of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A buffer for an underwater vehicle deployment and recovery device, comprising a buffer cylinder (24) for mounting on a base (11), the buffer cylinder (24) having an opening for facing a mechanical gripper (13), characterized in that: The opening of the buffer cylinder (24) is defined as facing forward, and an elastic buffer ring (17) is fixed on the edge of the opening. The elastic buffer ring (17) has a circular hole (18), and the diameter of the circular hole (18) is smaller than the diameter of the head of the aircraft (12). When the head of the aircraft (12) enters the buffer cylinder (24) through the circular hole (18), the inner edge of the elastic buffer ring (17) moves into the buffer cylinder (24), and the diameter of the circular hole (18) gradually increases to be equal to the diameter of the head of the aircraft (12); when the head of the aircraft (12) is subjected to the reaction force of the rear part of the buffer cylinder (24), the inner edge of the elastic buffer ring (17) moves from the inside of the buffer cylinder (24) to the outside of the buffer cylinder (24) along with the head of the aircraft (12).

2. The buffer of the underwater vehicle deployment and recovery device according to claim 1, characterized in that: The elastic buffer ring (17) is a rubber ring.

3. The buffer of the underwater vehicle deployment and recovery device according to claim 1 or 2, characterized in that: A sealing plate (23) is provided at the rear of the buffer cylinder (24), and an avoidance recess (20) is provided inside the sealing plate (23).

4. The buffer of the underwater vehicle deployment and recovery device according to claim 1 or 2, characterized in that: The buffer cylinder (24) is provided with a visual module, and the buffer (14) further includes a U-shaped frame (16) with an upward opening, the buffer cylinder (24) is located in the U-shaped frame (16), a first driving mechanism for driving the buffer cylinder (24) to move in an up-down direction is provided between the U-shaped frame (16) and the buffer cylinder (24), and a second driving mechanism for driving the U-shaped frame (16) to move in a left-right direction is also provided on the U-shaped frame (16).

5. The buffer of the underwater vehicle deployment and recovery device according to claim 4, characterized in that: The buffer cylinder (24) is a square cylinder.

6. The buffer of the underwater vehicle deployment and recovery device according to claim 5, characterized in that: The U-shaped frame (16) includes two vertical plates and one horizontal plate, the first driving mechanism is a vertical screw nut mechanism (19) arranged on the corresponding vertical plates, and the second driving mechanism is a horizontal screw nut mechanism (21) arranged on the lower side of the horizontal plate.

7. The buffer of the underwater vehicle deployment and recovery device according to claim 5, characterized in that: The vision module is arranged on the top of the buffer cylinder (24).

8. The buffer of the underwater vehicle deployment and recovery device according to claim 4, characterized in that: The visual module is a binocular camera (15).

9. An underwater vehicle deployment and recovery device, comprising a base (11), a mechanical claw (13) and a buffer (14) provided on the base (11), the buffer (14) being located behind the mechanical claw (13), and characterized in that: The buffer (14) is the buffer of the underwater vehicle deployment and recovery device according to any one of claims 1 to 8.

10. The underwater vehicle deployment and recovery device according to claim 9, characterized in that: The mechanical claws (13) are arranged in at least two groups at intervals along the front-to-back direction.

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