An adaptive clamping module and clamping device of an underwater UUV

Abstract

The application discloses an adaptive clamping module of underwater UUV, which comprises a flexible clamping belt and a rectangular clamping frame. Upper and lower sliding blocks arranged below the bottom frame of the clamping frame are respectively connected with long and short cables. The long and short cables are connected with the upper and lower sliding blocks through large and small fixed pulleys. Two rotating shafts are arranged on the top surface of the bottom frame. The two ends of the flexible clamping belt are respectively fixedly connected with the rotating shafts, and the upper and lower sliding blocks are respectively elastically connected with the flexible clamping belt. The application further discloses an adaptive clamping device of underwater UUV, which comprises two clamping modules, a frame and a positioning shaft arranged between the two clamping modules. The two clamping modules are sleeved on the frame. The height of the positioning shaft is higher than that of the rotating shaft. The application can be applied to UUVs with different shapes and sizes. When a roll angle is generated, the posture of the UUV can be adjusted by controlling the rotation of the rotating shaft. The clamping device can be used for underwater docking of the UUV to complete charging and information exchange.

Description

Technical Field

[0001] This invention relates to the field of underwater operation technology, and in particular to an adaptive clamping module and clamping device for an underwater UUV. Background Technology

[0002] With increasing emphasis on marine resource development, UUVs (Unmanned Aerial Vehicles) have become a primary tool for ocean exploration. Ensuring long-term underwater operation and stable data exchange for UUVs has become a major concern. Therefore, the development of underwater docking technology is beneficial for long-term underwater operations of UUVs and has significant practical implications for the development and utilization of marine resources.

[0003] Currently, the most widely used underwater docking method is the containment docking, which uses a frustum-shaped guide dome as the docking target. This docking method does not require significant modifications to the UUV's structure. However, due to limitations in the shape of the nozzle and the clamping method, the containment docking method has poor adaptability to the shape of the UUV.

[0004] The invention patent with authorization announcement number CN112960086B discloses a landing-type AUV underwater docking platform. This invention uses a motor-driven gripper device to open and close, realizing the clamping or release of the AUV body. However, this solution is only suitable for AUVs with circular or elliptical cross-sections, and the opening and closing of the gripper occupies a relatively large space.

[0005] The invention patent with authorization announcement number CN113120201B discloses an underwater drone recovery device based on a ring-shaped scissor mechanism. This invention employs a ring-shaped scissor mechanism. The opening and closing of the scissor mechanism is controlled by a motor driving a connecting part to move along a threaded rod, thereby controlling the contraction of the ring-shaped scissor mechanism and achieving clamping of the ROV. However, this solution is more suitable for clamping ROVs with circular cross-sections. For ROVs with elliptical or square cross-sections, problems such as loosening due to the small clamping contact area can easily occur. Summary of the Invention

[0006] To address the problems of existing clamping devices being unable to dock with UUVs of various cross-sections such as elliptical and square, and being unable to automatically adjust the attitude of the UUV when a roll angle is generated, this invention provides an adaptive clamping module and clamping device for underwater UUVs.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An adaptive clamping module for an underwater UUV includes a flexible clamping strap and a rectangular clamping frame. The clamping frame includes a top frame, a bottom frame, and two side frames. Each side frame has a large fixed pulley at its top and bottom, and a small fixed pulley at its bottom. Each side frame also has an upper slider and a lower slider, which slide vertically with the side frame. Below the bottom frame, there is a vertically movable upper slider counterweight and a lower slider counterweight. Both ends of the upper slider counterweight are connected to a long cable. Two large fixed pulleys on the corresponding side frame are fixedly connected to the upper slider. A short cable is connected to each end of the counterweight of the lower slider. The short cable passes around the small fixed pulley on the corresponding side frame and is fixedly connected to the lower slider. Two parallel rotating shafts are provided on the top surface of the bottom frame. The axis of the rotating shafts is in the same direction as the axis of the clamping frame. The two ends of the flexible clamping strap are fixedly connected to one of the rotating shafts. The upper slider and the lower slider are elastically connected to the flexible clamping strap, which stretches the flexible clamping strap into a ring shape. The stretched ring-shaped flexible clamping strap is located inside the clamping frame.

[0009] Preferably, a positioning block is fixed at the top and bottom of each side frame. The positioning block has a gap with the large fixed pulley or the large fixed pulley and the small fixed pulley on the end side, and is located inside the large fixed pulley or the large fixed pulley and the small fixed pulley on the end side. The upper slider and the lower slider on the side frame are located between the two positioning blocks.

[0010] Preferably, the elastic connection between the upper slider and the lower slider and the flexible clamping strap is a spring connection.

[0011] Preferably, the bottom surface of the bottom frame is further fixedly provided with two counterweight guide frames, and the upper slider counterweight and the lower slider counterweight are respectively disposed in one of the counterweight guide frames and slide vertically with it.

[0012] Preferably, the rotating shaft is fixedly mounted on the bottom frame via a rotating shaft seat.

[0013] Preferably, each of the rotating shafts is equipped with a drive motor.

[0014] An adaptive clamping device for an underwater UUV includes a frame and two clamping modules. The clamping modules are the aforementioned adaptive clamping modules for underwater UUVs. The frame is cuboid in shape, with open front and rear ends. Both clamping modules are fitted onto the frame with a gap between them. The flexible clamping straps of both clamping modules are located within the frame. The bottom of the frame has two parallel positioning shafts, with the axial direction of the positioning shafts being the same as the axial direction of the frame. The positioning shafts are located between the two clamping modules, and the height of the positioning shafts is higher than the height of the rotating shaft.

[0015] Preferably, the clamping device further includes a guide cover, which is frustum-shaped with open front and rear ends. The guide cover is fixedly connected to the frame, and the small opening end of the guide cover extends into the frame from the front end of the frame. The small opening end of the guide cover is aligned with the flexible clamping band of the clamping module located on the front side of the frame, which is stretched into a ring shape. The area of ​​the small opening end of the guide cover is smaller than the internal space area of ​​the flexible clamping band that is stretched into a ring shape.

[0016] Preferably, the positioning shaft is fixedly installed at the bottom of the frame via a positioning shaft seat.

[0017] Preferably, the rear end of the frame is provided with a buffer net, which covers the rear end opening of the frame.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The clamping device of the present invention employs a structure in which the flexible clamping belt can tighten with the rotation of the rotating shaft, enabling the clamping of UUVs of various shapes and sizes. It can be used not only for UUVs with circular cross-sections, but also for UUVs with elliptical or square shapes.

[0020] 2. In the clamping device of the present invention, by employing upper and lower slider counterweights connected to the flexible clamping belt, an automatic reset function is achieved. The dual counterweights respectively drive the upper and lower sliders, stretching the upper and lower springs connected to them respectively, ultimately restoring the flexible clamping belt connected to the upper and lower springs to its initial state (i.e., loop shape). Therefore, after clamping, the flexible clamping belt can be automatically stretched and returned to its standby state. This ensures that the UUV can enter the docking position without obstruction during re-docking.

[0021] 3. In the clamping device of the present invention, since both ends of the flexible clamping strap are fixedly connected to the rotating shaft, by controlling the rotation direction of the rotating shaft, the two ends of the flexible clamping strap are wound to different degrees on the corresponding rotating shaft, thereby causing the springs to stretch the flexible clamping strap to different degrees, thus changing the position and posture of the flexible clamping strap within the clamping frame. When a roll angle is detected in the UUV entering the docking device, the flexible clamping strap can be adjusted to rotate closer to one side by rotating the rotating shaft, thereby causing the UUV to also rotate closer to one side, thus ensuring that the UUV is correctly positioned for docking and completing the adjustment of the UUV's roll angle. In this way, automatic adjustment of the UUV's roll posture can be achieved. Attached Figure Description

[0022] Figure 1 A schematic diagram of the underwater UUV adaptive clamping device in standby mode;

[0023] Figure 2 This is a structural schematic diagram of the clamping module;

[0024] Figure 3 A schematic diagram of a UUV with a small circular cross-section clamped around its casing;

[0025] Figure 4 This is a schematic diagram of a UUV with a large circular cross-section being clamped.

[0026] Figure 5 This is a schematic diagram of a rectangular cross-section UUV clamped in place.

[0027] Figure 6 This is a schematic diagram of the UUV with an elliptical cross-section before clamping.

[0028] Figure 7 A schematic diagram showing the roll angle of an elliptical cross-section UUV after it is clamped.

[0029] Figure 8 This is a schematic diagram showing the roll angle after the UUV with an elliptical cross section has been adjusted.

[0030] Explanation of the labels in the diagram:

[0031] 1. Guide cover; 2. Clamping module; 201. Upper slider counterweight; 202. Rotating shaft; 203. Rotating shaft seat; 204. Drive motor; 205. Long cable; 206. Upper slider; 207. Large fixed pulley; 208. Upper spring; 209. Flexible clamping strap; 210. Clamping frame; 211. Positioning block; 212. Lower spring; 213. Lower slider; 214. Short cable; 215. Small fixed pulley; 216. Lower slider counterweight; 217. Counterweight guide frame; 3. Positioning shaft; 4. Positioning shaft seat; 5. Frame; 6. Buffer net. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings:

[0033] In the description of this invention, it should be noted that all directional indications (e.g., up, down, left, right, front, back, inside, outside, etc.) are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0034] like Figure 1 As shown, an adaptive clamping device for an underwater UUV includes a guide cover 1, two clamping modules 2, and a frame 5.

[0035] The guide cover 1 is frustum-shaped (preferably quadrangular frustum-shaped) with open ends at both the front and rear. The guide cover 1 is constructed of crossbars, with the front opening larger than the rear opening. The sides of the frustum-shaped guide cover 1 are also constructed of crossbars connecting the front and rear ends. The guide cover 1 is used for guiding the underwater UUV when it enters the clamping device.

[0036] like Figure 2 As shown, each clamping module 2 includes a flexible clamping strap 209 and a clamping frame 210. The clamping frame 210 is rectangular in shape. The clamping frame 210 includes a top frame, a bottom frame, and two side frames.

[0037] Each side frame has a large fixed pulley 207 at its top and bottom. The axes of all large fixed pulleys 207 are in the same direction, and the axes of two large fixed pulleys 207 on the same side frame are in the same vertical plane. Each side frame also has a small fixed pulley 215 at its bottom. The small fixed pulley 215 is axially aligned with the large fixed pulleys 207, and can be coaxially arranged with the large fixed pulley 207 at the bottom of its side frame. The large fixed pulleys 207 and small fixed pulleys 215 at the bottom of each side frame are located on the inner and outer sides of the side frame, respectively, and do not affect each other's rotation.

[0038] Each of the side frames is further provided with an upper slider 206 and a lower slider 213. The upper slider 206 on the same side frame is located above the lower slider 213. The upper slider 206 and the lower slider 213 slide vertically with the side frame they belong to. The sliding engagement can be achieved by a groove. For example, the side frame is provided with a vertical groove, and the upper slider 206 and the lower slider 213 have insertion portions adapted to the groove. Therefore, the upper slider 206 and the lower slider 213 can slide freely up and down along the groove on the side frame.

[0039] A positioning block 211 is fixedly provided at the top and bottom of each of the side frames. A gap is left between the positioning block 211 fixed at the top of the side frame and the large fixed pulley 207 on its end side to avoid affecting the rotation of the large fixed pulley 207, and the positioning block 211 is located inside the large fixed pulley 207 on its end side. A gap is left between the positioning block 211 fixed at the bottom of the side frame and the large fixed pulley 207 and the small fixed pulley 215 on its end side to avoid affecting the rotation of the large fixed pulley 207 and the small fixed pulley 215, and the positioning block 211 is located inside the large fixed pulley 207 and the small fixed pulley 215 on its end side. The upper slider 206 and the lower slider 213 on each side frame are located between two positioning blocks 211. The upper slider 206 can contact the positioning block 211 located at the top of the side frame; the lower slider 213 can contact the positioning block 211 located at the bottom of the side frame. The positioning block 211 is used to restrict the outward movement of the upper slider 206 or the lower slider 213 on the side frame.

[0040] Two downwardly extending counterweight guide frames 217 are fixedly installed at the middle of the bottom surface of the bottom frame. Each of the two counterweight guide frames 217 contains an upper sliding counterweight 201 and a lower sliding counterweight 216, and the upper sliding counterweight 201 and the lower sliding counterweight 216 are vertically slidingly engaged with the counterweight guide frame 217.

[0041] The upper slider counterweight 201 is connected to a long cable 205 at both ends. The long cable 205 passes over the two large fixed pulleys 207 on the corresponding side frame and is fixedly connected to the upper slider 206. The lower slider counterweight 216 is connected to a short cable 214 at both ends. The short cable 214 passes over the small fixed pulley 215 on the corresponding side frame and is fixedly connected to the lower slider 213.

[0042] Two parallel rotating shafts 202 are provided at the center of the top surface of the bottom frame. The axial direction of the rotating shafts 202 is the same as the axial direction of the clamping frame 210. The axial direction of the clamping frame 210 is perpendicular to the plane of the clamping frame 210. The two rotating shafts 202 are fixedly mounted on the bottom frame by two rotating shaft seats 203. The two rotating shaft seats 203 are parallel to the bottom frame and are located opposite each other on the inner and outer sides of the plane of the bottom frame. The two rotating shafts 202 are located between the inner and outer rotating shaft seats 203, and there is a certain distance between the two rotating shafts 202 so as not to affect their respective rotation.

[0043] Each of the rotating shafts 202 is equipped with a drive motor 204. Specifically, one end of the rotating shaft 202 passes through the rotating shaft seat 203 and is fixedly connected to the output shaft of the drive motor 204, so that the drive motor 204 can drive the rotating shaft 202 to rotate together. Each drive motor 204 can rotate in both forward and reverse directions. The drive motor 204 is also equipped with a signal control terminal.

[0044] The two ends of the flexible clamping strap 209 are respectively wound and fixedly connected to one of the rotating shafts 202, and their winding methods are the same (for example, both are wound upwards or both are wound downwards).

[0045] The upper slider 206 and the lower slider 213 are elastically connected to the flexible clamping strap 209. The flexible clamping strap 209 is stretched into a loop, and this looped flexible clamping strap 209 is located within the clamping frame 210. When the rotating shaft 202 is not winding around and tightening the flexible clamping strap 209, the flexible clamping strap 209 is typically a rectangular loop. Furthermore, the elastic connection between the upper slider 206 and the lower slider 213 and the flexible clamping strap 209 is a spring connection. For example, when looped, the flexible clamping strap 209 closest to the top of each side frame is connected to the corresponding upper slider 206 via an upper spring 208; the flexible clamping strap 209 closest to the bottom of each side frame is connected to the corresponding lower slider 213 via a lower spring 212. The other end of each upper spring 208 is fixedly connected to the upper slider 206 on the corresponding side; the other end of each lower spring 212 is fixedly connected to the lower slider 213 on the corresponding side.

[0046] The flexible clamping belt 209 is typically made of rubber material and has a certain width and high flexibility. Because its inner surface has evenly distributed dotted protrusions and is relatively rough, it can ensure that there is a certain friction between the belt and the UUV during clamping.

[0047] In its initial state, the clamping module 2, due to the downward pulling force exerted by the upper slider counterweight 201 on the two long cables 205 connected to it, causes the upper slider 206 connected to each long cable 205 to contact the positioning block 211 at the top of the corresponding side frame. Similarly, due to the downward pulling force exerted by the lower slider counterweight 216 on the two short cables 214 connected to it, the lower slider 213 connected to each short cable 214 contacts the positioning block 211 at the bottom of the corresponding side frame. Therefore, the upper spring 208 connected to the upper slider 206 and the lower spring 212 connected to the lower slider 213 are both in a taut state, causing the flexible clamping strap 209 to be pulled to the vicinity of the top or bottom of the two side frames. In this way, the flexible clamping strap 209 forms the largest possible annular space (usually a rectangular space).

[0048] The maximum annular internal space of the flexible clamping strap 209 (i.e., the internal space formed in the initial state) has both horizontal and vertical dimensions larger than the horizontal and vertical dimensions of the small opening end of the guide cover 1. Therefore, the maximum internal space area of ​​the flexible clamping strap 209 stretched into an annular shape (i.e., the internal space area formed in the initial state) is larger than the area of ​​the small opening end of the guide cover 1, so that the UUV can enter the clamping device without obstruction.

[0049] like Figure 1 As shown, the frame 5 is rectangular in shape with open ends. The top, bottom, left, and right sides of the frame 5 are each composed of multiple crossbars connecting the front and rear ends. The direction of the frame 5 towards the guide cover 1 is the front end of the frame 5, and the opposite direction is the rear end of the frame 5.

[0050] The front end of the frame 5 is larger than the small opening of the guide cover 1. Even the small opening of the guide cover 1 is larger than the outer dimensions of various underwater UUVs, to ensure that UUVs of different sizes can enter from the large opening of the guide cover 1 and then pass smoothly through the small opening.

[0051] The guide cover 1 is fixedly connected to the frame 5. The fixed connection method is that the small opening end of the guide cover 1 extends into the frame 5 from the front end of the frame 5 and is fixedly connected to the frame 5.

[0052] Both clamping modules 2 are fitted onto the frame 5 with a gap between them, allowing the underwater UUV to smoothly remain between the two clamping modules 2 after entering the docking position through the guide cover 1. Multiple crossbars on the four sides of the frame 5 pass through the two clamping frames 210, and the upper side of the frame 5 is fixedly connected to the bottom surface of the top frame of the two clamping frames 210, while the lower side of the frame 5 is fixedly connected to the top surface of the bottom frame of the two clamping frames 210. The planes of the clamping frames 210 of both clamping modules 2 are parallel to the front and rear end planes of the frame 5. Furthermore, the two clamping modules 2 are referred to as the front clamping module 2 and the rear clamping module 2, respectively, from the front end to the rear end of the frame 5. The flexible clamping straps 209 of both clamping modules 2 are located within the frame 5 to avoid affecting the tightening of the flexible clamping straps 209.

[0053] The small opening end of the guide cover 1 is aligned with the flexible clamping strap 209 of the clamping module 2 located on the front side of the frame 5, which is stretched into a ring shape. Moreover, there is a certain gap between the small opening end of the guide cover 1 extending into the front end of the frame 5 and the clamping module 2 located on the front side, so that the part of the guide cover 1 extending into the front end of the frame 5 does not affect the clamping module 2 from performing the clamping operation.

[0054] The bottom of the frame 5 is provided with two parallel positioning shafts 3. The axial direction of the positioning shafts 3 is the same as the axial direction of the frame 5. The two positioning shafts 3 are parallel to the rotation shaft 202. The two positioning shafts 3 are the docking positions of the clamping device. The two positioning shafts 3 are located between the two clamping modules 2, and the height of the positioning shafts 3 is higher than the height of the rotation shaft 202, so that after the underwater UUV reaches the docking position, it will not be affected by the displacement caused by the rotation of the rotation shaft 202.

[0055] The two positioning shafts 3 are fixedly installed at the bottom of the frame 5 by four positioning shaft seats 4.

[0056] The rear end of the frame 5 is provided with a buffer net 6, which covers the rear opening of the frame 5. The buffer net 6 is provided with a detection device (e.g., a contact sensor) that can send control signals to the drive motor 204.

[0057] The working principle of the adaptive clamping device of the underwater UUV is as follows:

[0058] like Figure 3-5As shown, when the adaptive clamping device of the underwater UUV detects UUVs of various shapes and sizes entering the clamping module 2 and contacting the buffer net 6, the contact sensor on the buffer net 6 controls the drive motor 204 to operate. The signal output of the contact sensor is connected to the signal control terminal of the drive motor 204, causing the clamping module 2 to start working. At this time, the two drive motors 204 drive the two rotating shafts 202, causing the rotating shafts 202 to wrap around the flexible clamping strap 209 and rotate in opposite directions. This causes the flexible clamping strap 209 to gradually contract against the tension of the upper spring 208 and the lower spring 212. This allows the UUV to be pulled downwards and pressed against the positioning shaft 3, ultimately clamping the UUVs of different shapes to the docking position.

[0059] like Figure 6-7 As shown, when the clamping device clamps an underwater UUV with an elliptical cross-section, a roll angle may occur. When the UUV has a certain roll angle after clamping, the rotation of the drive motor 204 can be adjusted according to the size of the UUV's roll angle, causing the two rotating shafts 202 to rotate in the same direction. At this time, the flexible clamping belt 209 will rotate to the left or right as a whole. In this way, the flexible clamping belt 209 can drive the UUV to also rotate to the left or right, thereby completing the roll angle adjustment. This ensures the smooth completion of charging and data communication after docking.

[0060] After the UUV completes charging and information exchange, the two drive motors 204 rotate in opposite directions (i.e., in the opposite direction to the previous relative rotation), thereby driving the rotating shaft 202 to rotate as well, allowing the flexible clamping strap 209 to release the UUV. Simultaneously, the upper slider counterweight 201 and the lower slider counterweight 216, without external driving force interference, can slide downwards within the counterweight guide frame 217 under the influence of gravity. Thus, the two counterweights respectively drive the upper slider 206 and the lower slider 213, causing the upper spring 208 and the lower spring 212 connected to the upper slider 206 and the lower slider 213 to stretch, ultimately restoring the flexible clamping strap 209 connected to the upper spring 208 and the lower spring 212 to its initial state (i.e., loop shape), allowing the adaptive clamping device to return to standby mode.

[0061] Therefore, the adaptive clamping device for the underwater UUV controls the rotation shaft 202 to extend and retract the flexible clamping strap 209, thereby clamping and releasing the UUV. After clamping, the roll angle of the UUV can be adjusted by controlling the rotation of the rotation shaft 202.

[0062] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive clamping module for an underwater UUV, characterized in that: The device includes a flexible clamping strap (209) and a rectangular clamping frame (210). The clamping frame (210) includes a top frame, a bottom frame, and two side frames. Each side frame has a large fixed pulley (207) at its top and bottom, and a small fixed pulley (215) at its bottom. Each side frame also has an upper slider (206) and a lower slider (213), which slide vertically with the side frame. The bottom frame has an upper slider counterweight (201) and a lower slider counterweight (216) that can move up and down. The two ends of the upper slider counterweight (201) are connected to a long cable (205), which passes around the two large fixed pulleys on the corresponding side frame. The pulley (207) is fixedly connected to the upper slider (206). The two ends of the lower slider counterweight (216) are respectively connected to a short cable (214). The short cable (214) passes around the small fixed pulley (215) on the side frame on the corresponding side and is fixedly connected to the lower slider (213). The top surface of the bottom frame is provided with two parallel rotating shafts (202). The axial direction of the rotating shafts (202) is the same as the axial direction of the clamping frame (210). The two ends of the flexible clamping strap (209) are respectively fixedly connected to one of the rotating shafts (202). The upper slider (206) and the lower slider (213) are elastically connected to the flexible clamping strap (209) respectively, stretching the flexible clamping strap (209) into a ring shape. The stretched flexible clamping strap (209) is located inside the clamping frame (210).

2. The adaptive clamping module for underwater UUVs according to claim 1, characterized in that: Each of the side frames is fixed with a positioning block (211) at the top and bottom. The positioning block (211) has a gap between itself and the large fixed pulley (207) or the large fixed pulley (207) and the small fixed pulley (215) on its end side, and is located inside the large fixed pulley (207) or the large fixed pulley (207) and the small fixed pulley (215) on its end side. The upper slider (206) and the lower slider (213) on the side frame are located between the two positioning blocks (211).

3. The adaptive clamping module for underwater UUVs according to claim 1, characterized in that: The elastic connection between the upper slider (206) and the lower slider (213) and the flexible clamping strap (209) is a spring connection.

4. The adaptive clamping module for underwater UUVs according to claim 1, characterized in that: The bottom surface of the bottom frame is also fixedly provided with two counterweight guide frames (217). The upper slider counterweight (201) and the lower slider counterweight (216) are respectively located in one of the counterweight guide frames (217) and slide vertically with it.

5. The adaptive clamping module for underwater UUVs according to claim 1, characterized in that: The rotating shaft (202) is fixedly mounted on the bottom frame via a rotating shaft seat (203).

6. The adaptive clamping module for underwater UUVs according to claim 5, characterized in that: Each of the said rotating shafts (202) is equipped with a drive motor (204).

7. An adaptive clamping device for an underwater UUV, characterized in that: The device includes a frame (5) and two clamping modules (2). The clamping modules (2) are adaptive clamping modules (2) of any one of claims 1-6 for underwater UUVs. The frame (5) is cuboid in shape and has open front and rear ends. The two clamping modules (2) are fitted onto the frame (5) with a gap between them. The flexible clamping straps (209) of the two clamping modules (2) are located inside the frame (5). The bottom of the frame (5) is provided with two parallel positioning shafts (3). The axial direction of the positioning shafts (3) is the same as the axial direction of the frame (5). The positioning shafts (3) are located between the two clamping modules (2), and the height of the positioning shafts (3) is higher than the height of the rotating shaft (202).

8. The adaptive clamping device for underwater UUVs according to claim 7, characterized in that: The clamping device also includes a guide cover (1), which is frustum-shaped with open ends at both the front and rear. The guide cover (1) is fixedly connected to the frame (5). The small opening end of the guide cover (1) extends into the frame (5) from the front end of the frame (5). The small opening end of the guide cover (1) is aligned with the flexible clamping band (209) of the clamping module (2) on the front side of the frame (5) that is stretched into a ring shape. The area of ​​the small opening end of the guide cover (1) is smaller than the internal space area of ​​the flexible clamping band (209) that is stretched into a ring shape.

9. The adaptive clamping device for underwater UUVs according to claim 7, characterized in that: The positioning shaft (3) is fixedly installed at the bottom of the frame (5) via the positioning shaft seat (4).

10. The adaptive clamping device for underwater UUVs according to claim 7, characterized in that: The rear end of the frame (5) is provided with a buffer net (6), which covers the rear end opening of the frame (5).

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