In order to improve the safety and efficiency of AUV（autonomous underwater vehicle） deployment and recovery process, a water surface deployment and recovery device for AUV was studied based on a ship crane, which can not only adjust the opening direction of the suspension cage through an electric motor but also use a rope to drive and actively reduce roll, A three-dimensional dynamic model of ship crane lifting point anti swing device lifting cage has been established, Firstly, a virtual prototype was built using Adams for simulation, and the changes in the tension of the four ropes and the posture of the cage were obtained when the opening direction of the cage was adjusted using a motor, Then, using Matlab joint simulation and PID control strategy, the simulation analysis of roll reduction was carried out, verifying the feasibility of the roll reduction scheme. Based on the existing theoretical foundation, a scaled prototype was built for experimental verification. The results show that under the excitation of the ship, the anti roll effect of roll is 70%; The anti roll effect of pitch is 60%, and the relative stability of each rope during posture adjustment of the motor is not intertwined, which can effectively complete the placement and recycling work. It can be seen that when the AUV approaches, the suspension cage relies on the posture adjustment motor for posture adjustment, allowing the suspension cage to enter the suspension cage; When the AUV enters the suspension cage, it can have a good anti swing effect.