Oscillating stopper

Abstract

The utility model provides a swing stopping device, and belongs to the technical field of underwater robot laying and recovery. The stopper includes: a main frame; the oscillation stopping frame is arranged at the bottom end of the main frame, a threading opening is formed in the oscillation stopping frame, and mounting plates are arranged at the bottom ends of the two sides of the threading opening respectively; the ROV flange plate is arranged below the swing stopping frame, a mushroom head is movably arranged at the top end of the ROV flange plate, and the top end of the mushroom head penetrates through the threading opening; and the limiting assembly is rotationally arranged between the two mounting plates so as to limit the mushroom head. According to the anti-oscillation device, mushroom heads with different diameters are limited through the limiting assembly capable of being rotationally adjusted, the mushroom heads slightly move along with the ROV, bending of the mushroom heads is released, and the mushroom heads are prevented from being damaged.

Description

Technical Field

[0001] The present disclosure relates to the technical field of underwater robot deployment and recovery, and in particular to an anti-oscillation device. Background Art

[0002] Unmanned remotely operated vehicles (ROVs) are important equipment for unmanned diving. Before ROVs can perform underwater operations, they need to be placed underwater by a deployment and recovery system. During the deployment and recovery process of ROVs, they need to cross the water surface. During the process of ROVs crossing the water surface, the load changes dramatically, and affected by severe sea conditions such as wind, waves and currents on the sea surface, ROVs will swing and rotate, which can easily lead to failure of deployment and recovery, and even pose a threat to the safety of equipment and personnel.

[0003] In the prior art, an anti-sway device is usually used to stop the ROV from swaying during the deployment and recovery process, and the anti-sway device is used to reduce the shaking of the ROV during the deployment and recovery process and improve the stability of the ROV. The traditional anti-sway device reduces the shaking of the ROV by completely locking the mushroom head connected to the ROV. However, after the mushroom head is completely locked, it cannot be slightly shaken with the ROV, and the bending of the mushroom head caused by the shaking of the ROV cannot be released, which easily causes damage to the mushroom head. Utility Model Content

[0004] The purpose of the present disclosure is to overcome the deficiencies of the above-mentioned prior art and provide a stabilizer to enable the mushroom head to move slightly along with the ROV, release the bending of the mushroom head, and avoid damage to the mushroom head.

[0005] In order to achieve the above utility model purpose, the present invention adopts the following technical solutions:

[0006] An anti-oscillation device, comprising:

[0007] Main frame;

[0008] The anti-sway frame is arranged at the bottom end of the main frame, the anti-sway frame is provided with a threading opening, and the bottom ends of both sides of the threading opening are respectively provided with mounting plates;

[0009] An ROV flange plate is arranged below the anti-swing frame, a mushroom head is movably arranged on the top of the ROV flange plate, one end of the cable passes through the mushroom head and the ROV flange plate to be connected with the ROV, and the mushroom head is fixed on the cable;

[0010] The limiting component is rotatably arranged between the two mounting plates to limit the mushroom head.

[0011] In an exemplary embodiment of the present disclosure, the limiting assembly includes:

[0012] A limit block, wherein two limit blocks are symmetrically arranged on both sides of the mushroom head, the cross section of the limit block is V-shaped, and the opening of the limit block faces the side away from the mushroom head;

[0013] A rotating shaft is arranged at the bottom end of the limit block, and the limit block is rotatably connected to the two mounting plates through the rotating shaft;

[0014] A first hydraulic cylinder, two of which are staggered on both sides of the limit block, the bottom end of the first hydraulic cylinder is rotatably connected to the rotating shaft on one of the limit blocks, the top end of the first hydraulic cylinder is provided with a chute body, and the other limit block is provided with a guide rod, and the guide rod can reciprocate in the chute body;

[0015] The fixing rods are arranged on the outer walls on both sides of the limit block, the fixing rods are located above the first hydraulic cylinder, and the two fixing rods located on the same side are connected by a spring.

[0016] In an exemplary embodiment of the present disclosure, a ball stud is detachably provided at one end of the limit block away from the mushroom head, and the top end of the ball stud abuts against the bottom end of the anti-swing frame;

[0017] A cushion block is arranged between the ball stud and the anti-swing frame, and the cushion block is arranged at the bottom end of the anti-swing frame.

[0018] In an exemplary embodiment of the present disclosure, one end of the two limit blocks close to each other forms a conical expansion opening that is convenient for the introduction of the mushroom head, and the opening of the expansion opening is arranged downward.

[0019] In an exemplary embodiment of the present disclosure, an annular frame is arranged at the top of the ROV flange plate, and a plurality of second hydraulic cylinders are arranged at intervals between the anti-swing frame and the annular frame, the bottom end of the second hydraulic cylinder is rotatably connected to the annular frame, the top end of the second hydraulic cylinder is rotatably connected to the anti-swing frame through a U-shaped frame with an opening facing downward, and the second hydraulic cylinder is connected to an external accumulator.

[0020] In an exemplary embodiment of the present disclosure, a plurality of telescopic rods are arranged between the anti-sway frame and the annular frame, the telescopic rods and the second hydraulic cylinders are arranged alternately, the top ends of the telescopic rods are fixedly connected to the anti-sway frame, and the bottom ends of the telescopic rods are fixedly connected to the annular frame;

[0021] A rubber pad is arranged at the bottom end of the annular frame.

[0022] In an exemplary embodiment of the present disclosure, a suction cup is disposed at the bottom end of the mushroom head, and the bottom end of the suction cup is disposed at the top end of the ROV flange plate.

[0023] In an exemplary embodiment of the present disclosure, a mounting frame is disposed in the main frame, a pulley is rotatably disposed in the mounting frame, the mounting frame is rotatably connected to the main frame via a deflection axis, and the other end of the cable passes around the pulley.

[0024] In an exemplary embodiment of the present disclosure, a rotary drive is provided between the main frame and the anti-swing frame.

[0025] In an exemplary embodiment of the present disclosure, the outer walls on both sides of the main frame are respectively provided with boom cylinders.

[0026] Beneficial effects of the present disclosure:

[0027] The present invention provides a stabilizer, which enables the pulley to deflect by staggering the deflection axis on which the pulley is installed and the rotation center composed of the cable and the mushroom head, and reduces the distance between the two deflection axes, thereby reducing the height of the stabilizer; by installing rotatable and adjustable limiter components on both sides of the mushroom head, mushroom heads of different diameters can be limited and fixed, so that the mushroom head can move slightly with the ROV, thereby releasing the bending of the mushroom head caused by the shaking of the ROV and avoiding damage to the mushroom head. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0029] Figure 1 This is a schematic diagram of the structure of a stabilizer in one embodiment of the present disclosure;

[0030] Figure 2 An overall diagram of an anti-oscillation device in one embodiment of the present disclosure;

[0031] Figure 3 This is a schematic diagram of the installation of a limit assembly in one embodiment of the present disclosure;

[0032] Figure 4 This is a schematic side view of the installation of a limit assembly in one embodiment of the present disclosure;

[0033] Figure 5 This is a schematic diagram of the installation of a limit block in one embodiment of the present disclosure;

[0034] Figure 6 This is a schematic diagram of a top view of the installation of a limit block in one embodiment of the present disclosure;

[0035] Figure 7It is a schematic structural diagram of an anti-swing frame in one embodiment of the present disclosure.

[0036] Description of reference numerals:

[0037] 1. Main frame; 2. Anti-sway frame; 3. Threading port; 4. Mounting plate; 5. ROV flange plate; 6. Mushroom head; 7. Limit block; 8. Rotating shaft; 9. First hydraulic cylinder; 10. Slide chute; 11. Guide rod; 12. Fixed rod; 13. Spring; 14. Ball stud; 15. Second hydraulic cylinder; 16. U-shaped frame; 17. Telescopic rod; 18. Suction cup; 19. Deflection shaft; 20. Mounting frame; 21. Pulley; 22. Ring frame; 23. Rubber pad; 24. Pad; 25. Cable; 26. Slewing drive; 27. Boom cylinder. DETAILED DESCRIPTION

[0038] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present disclosure will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted. In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale.

[0039] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the illustration to another component, these terms are used in this specification only for convenience, such as according to the orientation of the examples described in the drawings. It is understood that if the device of the illustration is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0040] The terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first", "second" and "third" etc. are used merely as labels and are not intended to limit the quantity of their objects.

[0041] The present disclosure provides a oscillator, see Figures 1 to 7, including: a main frame 1; an anti-swing frame 2, which is arranged at the bottom of the main frame 1, and a threading hole 3 is opened on the anti-swing frame 2, and mounting plates 4 are respectively arranged at the bottom ends of both sides of the threading hole 3; an ROV flange plate 5, which is arranged below the anti-swing frame 2, and a mushroom head 6 is movably arranged on the top of the ROV flange plate 5, one end of the cable 25 passes through the mushroom head 6 and the ROV flange plate 5 to be connected with the ROV, and the mushroom head 6 is fixed on the cable 25; a limiting component, which is rotatably arranged between the two mounting plates 4 to limit the mushroom head 6.

[0042] In the disclosed embodiment, the anti-swing device is composed of a main frame 1, an anti-swing frame 2, a mounting plate 4, an ROV flange plate 5, a mushroom head 6 and a limiting component for fixing the mushroom head 6. A threading port 3 is provided on the anti-swing frame 2, and the mushroom head 6 passes through the threading port 3 to be connected with the ROV flange plate 5. The cable 25 passes through the mushroom head 6 and the ROV flange plate 5 in turn and is connected with the ROV. The mushroom head 6 is fixedly installed on the cable 25. The ROV is moved through the main frame 1 and the anti-swing frame 2, and the ROV is retracted and released through the cable 25 and the mushroom head 6. The anti-swing frame 2 is used to reduce the shaking of the ROV during the movement. The mushroom heads 6 of different diameters are limited and fixed by the limiting component installed on the mounting plate 4, so as to reduce the shaking of the ROV and improve the stability of the ROV movement.

[0043] Compared with the existing ROV stabilizer, this stabilizer uses a rotatable and adjustable limit assembly to limit and fix mushroom heads of different diameters, so that the mushroom head can move slightly with the ROV, thereby releasing the bending of the mushroom head caused by the shaking of the ROV and avoiding damage to the mushroom head.

[0044] In one embodiment of the present disclosure, see Figures 3 to 6The limit assembly includes: a limit block 7, two limit blocks 7 are symmetrically arranged on both sides of the mushroom head 6, the cross-section of the limit block 7 is V-shaped, and the opening of the limit block 7 faces the side away from the mushroom head 6; a rotating shaft 8 is arranged at the bottom end of the limit block 7, and the limit block 7 is rotatably connected to the two mounting plates 4 through the rotating shaft 8; a first hydraulic cylinder 9, two first hydraulic cylinders 9 are staggered on both sides of the limit block 7, the bottom end of the first hydraulic cylinder 9 is rotatably connected to the rotating shaft 8 on one of the limit blocks 7, a slide trough body 10 is arranged on the top of the first hydraulic cylinder 9, and a guide rod 11 is arranged on the other limit block 7, and the guide rod 11 can move back and forth in the slide trough body 10; a fixed rod 12 is arranged on the outer walls of both sides of the limit block 7, the fixed rod 12 is located above the first hydraulic cylinder 9, and the two fixed rods 12 located on the same side are connected by a spring 13. In this way, by adjusting the rotation angle of the two limit blocks 7, the limit assembly can be opened or closed, and the mushroom heads 6 of different diameters can be limited and fixed; through the mutual cooperation of the slide trough body 10 and the guide rod 11, it can be achieved that after the limit block 7 limits and fixes the mushroom head 6, the mushroom head 6 moves slightly with the ROV, releasing the bending of the mushroom head 6 caused by the shaking of the ROV, thereby avoiding damage to the mushroom head.

[0045] It can be understood that when the mushroom head 6 needs to be limited and fixed, the cable 25 drives the mushroom head 6 to move upward, and the mushroom head 6 pushes open the two limit blocks 7, that is, the two limit blocks 7 rotate outward around the rotating shaft 8, so that the two limit blocks 7 are separated, so that the spring 13 is stretched, and when the cable 25 drives the mushroom head 6 to pass through the two limit blocks 7, the spring 13 retracts, driving the two limit blocks 7 to rotate inward, so that the two limit blocks 7 are closed, and the two limit blocks 7 fix the neck of the mushroom head 6, and the head of the mushroom head 6 is located above the two limit blocks 7, thereby realizing the limited fixation of the mushroom head 6; when the mushroom head 6 is fixed, during the process of ROV deployment and recovery, when the ROV shakes, the ROV flange plate 5 transmits the motion to the mushroom head 6 connected thereto, and the mushroom head 6 pushes the limit block 7 to move, driving the first hydraulic cylinder 9 to move, so that the guide rod 11 is in the slide chute body 10 When the mushroom head 6 needs to be unlocked, the mushroom head 6 and the ROV are lifted up a short distance through the cable 25, so that the mushroom head 6 is separated from the two limit blocks 7, and the two first hydraulic cylinders 9 are started. The first hydraulic cylinders 9 push the two limit blocks 7 to rotate outward around the rotation axis 8 through the slide trough body 10 and the guide rod 11, so that the two limit blocks 7 are separated, so that the spring 13 is stretched, and the cable 25 drives the mushroom head 6 to move downward, so that the mushroom head 6 passes through the limit assembly downward, thereby unlocking the mushroom head 6. After the mushroom head 6 is unlocked, the two first hydraulic cylinders 9 are started again, driving the two limit blocks 7 to rotate in the opposite direction around the rotation axis 8, so that the two limit blocks 7 are closed, the spring 13 is retracted, and the limit assembly is restored to its initial state.

[0046] Optionally, the first hydraulic cylinder 9 is obliquely arranged on a side of the mounting plate 4 away from the limiting block 7 .

[0047] Optionally, a limiting plate is provided at one end of the guide rod 11 away from the limiting block 7 , so that the guide rod 11 can be prevented from being separated from the chute body 10 during the movement of the two limiting blocks 7 .

[0048] Optionally, a limiting plate is provided at one end of the fixing rod 12 away from the limiting block 7 , so that the spring 13 can be prevented from falling off the fixing rod 12 during the movement of the two limiting blocks 7 .

[0049] In one example, two through openings are symmetrically opened on the mounting plate 4, and the fixing rods 12 on the two limit blocks 7 pass through the through openings on the same side to be connected to the limit plates. The two fixing rods 12 are connected by a spring 13, and the spring 13 is located on the side of the mounting plate 4 away from the limit blocks 7.

[0050] In one example, the guide rod 11 passes through the through opening and the slide chute body 10 on the same side in sequence and is connected to the limiting plate.

[0051] In one embodiment of the present disclosure, see Figure 5 and Figure 6 The end of the limit block 7 away from the mushroom head 6 is detachably provided with a ball stud 14, the top of which abuts against the bottom of the anti-swing frame 2; a cushion block 24 is provided between the ball stud 14 and the anti-swing frame 2, and the cushion block 24 is provided at the bottom of the anti-swing frame 2. In this way, the ball stud 14 plays a role in limiting displacement. When the mushroom head 6 moves slightly downward with the ROV, the ball stud 14 limits the range of relative rotation of the two limit blocks 7 driven by the mushroom head 6, thereby preventing the two limit blocks 7 from rotating too much relative to squeeze the mushroom head 6 and preventing the mushroom head 6 from being worn.

[0052] Optionally, the ball stud 14 is fixed on the limit block 7 through nuts at the upper and lower ends.

[0053] Optionally, the ball stud 14 and the cushion block 24 are both made of martensitic stainless steel, so as to prevent the ball stud 14 and the cushion block 24 from rusting.

[0054] In one embodiment of the present disclosure, see Figure 1 , Figure 5 and Figure 6 The ends of the two stoppers 7 that are close to each other form a conical expansion that is conducive to the introduction of the mushroom head 6, and the opening of the expansion is set downward. In this way, the shape of the expansion matches the head shape of the mushroom head 6, which is convenient for the mushroom head 6 to be introduced between the two stoppers 7.

[0055] Furthermore, the conical expansion facilitates adjustment of the rotation angle of the limit block 7 according to the different diameters of the mushroom head 6, thereby achieving fixing and unlocking of mushroom heads 6 of different diameters.

[0056] In one embodiment of the present disclosure, see Figures 1 to 5 , an annular frame 22 is arranged at the top of the ROV flange plate 5, and a plurality of second hydraulic cylinders 15 are arranged at intervals between the anti-sway frame 2 and the annular frame 22. The bottom end of the second hydraulic cylinder 15 is rotatably connected to the annular frame 22, and the top end of the second hydraulic cylinder 15 is rotatably connected to the anti-sway frame 2 through a U-shaped frame 16 with an opening facing downward, and the second hydraulic cylinder 15 is connected to an external accumulator. In this way, the second hydraulic cylinder 15 forms a buffer cylinder, and the second hydraulic cylinder 15 plays a buffering role. The plurality of circumferential second hydraulic cylinders 15 provide comprehensive buffering for the top end of the ROV when it moves, so that the ROV is evenly stressed, the vertical shaking of the ROV is reduced, and the stability of the ROV when it moves is improved.

[0057] In one embodiment of the present disclosure, see Figures 1 to 5 A plurality of telescopic rods 17 are arranged between the anti-sway frame 2 and the annular frame 22, the top of the telescopic rod 17 is fixedly connected to the anti-sway frame 2, and the bottom of the telescopic rod 17 is fixedly connected to the annular frame 22. In this way, the telescopic rod 17 plays a guiding role, and provides comprehensive guidance for the ROV when it moves through the circumferential multiple telescopic rods 17, so that the movement of each part of the ROV is balanced, thereby reducing the load change during the ROV deployment and recovery process, and further reducing the bending of the mushroom head 6.

[0058] Alternatively, see Figures 1 to 5 The number of the second hydraulic cylinders 15 and the telescopic rods 17 is the same, and the plurality of second hydraulic cylinders 15 and the plurality of telescopic rods 17 are alternately arranged. In this way, the second hydraulic cylinders 15 and the telescopic rods 17 cooperate with each other, and after the mushroom head 6 is locked, the mushroom head 6 is pressed by the anti-sway frame 2, that is, the lower part of the mushroom head 6 is locked, so that the mushroom head 6 can only float upward with the ROV, and the shaking of the ROV is reduced by the energy of the accumulator, thereby further improving the stability of the ROV movement.

[0059] Alternatively, see Figure 3 and Figure 5 , a rubber pad 23 is provided at the bottom end of the annular frame 22. In this way, the rubber pad 23 plays a buffering role to reduce the impact received during the ROV retraction and release process.

[0060] In one embodiment of the present disclosure, see Figure 1 A suction cup 18 is arranged at the bottom of the mushroom head 6, and the bottom of the suction cup 18 is arranged at the top of the ROV flange plate 5. In this way, the mushroom head 6 can move slightly with the ROV, releasing the freedom of the mushroom head 6.

[0061] In one embodiment of the present disclosure, see Figure 1 and Figure 2 A mounting frame 20 is provided in the main frame 1, a pulley 21 is rotatably provided in the mounting frame 20, the mounting frame 20 is rotatably connected to the main frame 1 through a deflection shaft 28, and the other end of the cable 25 passes around the pulley 21. In this way, the pulley 21 can be deflected in the main frame 1 through the mounting frame 20 and the deflection shaft 28, and the deflection shaft 28 is staggered with the mushroom head 6 and the rotation center of the ROV.

[0062] Optionally, the deflection angle of the pulley 21 is plus or minus 5 degrees.

[0063] Alternatively, see Figure 1 and Figure 2 The top and bottom ends of the mounting frame 20 are rotatably connected to the main frame 1 via the deflection shaft 28, so that the two deflection shafts 28 are offset from the mushroom head 6 and the rotation center of the ROV, thereby reducing the distance between the two deflection shafts 28 and thus reducing the height of the entire stabilizer.

[0064] It is understandable that if the deflection shaft 28 is arranged concentrically with the rotation center of the stopper, the deflection shaft 28 located at the bottom is a hollow shaft, so that the mushroom head 6 can move in and out freely. This will increase the height of the stopper, increase the difficulty of manufacturing the stopper, and increase the manufacturing cost.

[0065] In one embodiment of the present disclosure, see Figures 1 to 4 A slewing driver 26 is provided between the main frame 1 and the anti-swing frame 2. In this way, the direction of the ROV is adjusted by the slewing driver 26 during the ROV retraction and deployment process, so as to facilitate the operation and use of the ROV.

[0066] Optionally, the slewing drive 26 is a gear-type slewing drive.

[0067] Optionally, the swivel range of the swivel drive 26 is 270 degrees.

[0068] In one embodiment of the present disclosure, the main frame 1 is mounted on a gantry, which is rotatably mounted on the deck of the vessel. The gantry is used to adjust the deployment position of the ROV, and the angle adjustment range of the gantry is 30 to 170 degrees.

[0069] Alternatively, see Figure 1 and Figure 2 , luffing cylinders 27 are respectively provided on the outer walls on both sides of the main frame 1. In this way, the luffing cylinders 27 are used to keep the ROV in a horizontal state when the gantry adjusts the deployment position of the ROV, thereby improving the stability of the ROV deployment.

[0070] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the utility model disclosed herein. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A sway stopper, characterized in that: include: Main frame (1); An anti-sway frame (2) is arranged at the bottom end of the main frame (1), a threading opening (3) is provided on the anti-sway frame (2), and mounting plates (4) are respectively provided at the bottom ends of both sides of the threading opening (3); An ROV flange plate (5) is arranged below the anti-swing frame (2), a mushroom head (6) is movably arranged on the top of the ROV flange plate (5), one end of a cable (25) passes through the mushroom head (6) and the ROV flange plate (5) to be connected to the ROV, and the mushroom head (6) is fixed on the cable (25); A limiting component is rotatably disposed between the two mounting plates (4) to limit the position of the mushroom head (6).

2. A sway stopper according to claim 1, characterized in that: The limiting component comprises: A limit block (7), wherein two limit blocks (7) are symmetrically arranged on both sides of the mushroom head (6), the cross section of the limit block (7) is V-shaped, and the opening of the limit block (7) faces the side away from the mushroom head (6); A rotating shaft (8) is arranged at the bottom end of the limit block (7), and the limit block (7) is rotatably connected to the two mounting plates (4) via the rotating shaft (8); A first hydraulic cylinder (9), wherein two of the first hydraulic cylinders (9) are alternately arranged on both sides of the limit block (7), the bottom end of the first hydraulic cylinder (9) is rotatably connected to the rotating shaft (8) on one of the limit blocks (7), the top end of the first hydraulic cylinder (9) is provided with a chute body (10), and the other limit block (7) is provided with a guide rod (11), and the guide rod (11) can reciprocate in the chute body (10); A fixing rod (12) is arranged on the outer walls of both sides of the limit block (7); the fixing rod (12) is located above the first hydraulic cylinder (9); and the two fixing rods (12) located on the same side are connected via a spring (13).

3. A sway stopper according to claim 2, characterized in that: A ball stud (14) is detachably provided at one end of the limit block (7) away from the mushroom head (6), and the top end of the ball stud (14) abuts against the bottom end of the anti-swing frame (2); A cushion block (24) is provided between the ball stud (14) and the anti-swing frame (2), and the cushion block (24) is provided at the bottom end of the anti-swing frame (2).

4. The anti-oscillation device according to claim 2, characterized in that: One end of the two limit blocks (7) that is close to each other forms a conical expansion opening that is convenient for the introduction of the mushroom head (6), and the opening of the expansion opening is arranged downward.

5. The anti-oscillation device according to claim 1, characterized in that: An annular frame (22) is arranged at the top of the ROV flange plate (5), and a plurality of second hydraulic cylinders (15) are arranged at intervals between the anti-sway frame (2) and the annular frame (22). The bottom end of the second hydraulic cylinder (15) is rotatably connected to the annular frame (22), and the top end of the second hydraulic cylinder (15) is rotatably connected to the anti-sway frame (2) through a U-shaped frame (16) with an opening facing downward, and the second hydraulic cylinder (15) is connected to an external accumulator.

6. The anti-oscillation device according to claim 5, characterized in that: A plurality of telescopic rods (17) are arranged at intervals between the anti-sway frame (2) and the annular frame (22); the telescopic rods (17) and the second hydraulic cylinders (15) are arranged alternately; the top ends of the telescopic rods (17) are fixedly connected to the anti-sway frame (2), and the bottom ends of the telescopic rods (17) are fixedly connected to the annular frame (22); A rubber pad (23) is provided at the bottom end of the annular frame (22).

7. The anti-oscillation device according to claim 1, characterized in that: A suction cup (18) is arranged at the bottom end of the mushroom head (6), and the bottom end of the suction cup (18) is arranged at the top end of the ROV flange plate (5).

8. The anti-oscillation device according to claim 1, characterized in that: A mounting frame (20) is arranged inside the main frame (1), a pulley (21) is rotatably arranged inside the mounting frame (20), the mounting frame (20) is rotatably connected to the main frame (1) via a deflection shaft (19), and the other end of the cable (25) passes around the pulley (21).

9. The anti-oscillation device according to claim 1, characterized in that: A rotary drive (26) is provided between the main frame (1) and the anti-swing frame (2).

10. The anti-oscillation device according to claim 1, characterized in that: The main frame (1) has two outer walls on both sides provided with variable amplitude oil cylinders (27).

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