Underwater multi-load sequential laying lifting appliance and working process

Abstract

The underwater multi-load sequential laying lifting appliance comprises an underwater steel cable winch installed on a manned submersible, the tail end of a steel cable of the underwater steel cable winch is connected with a lifting hook, the underwater multi-load sequential laying lifting appliance further comprises a lifting appliance structure body, and a lifting lug matched with the lifting hook is arranged in the middle of the top face of the lifting appliance structure body; a multi-load sequential release mechanism is mounted on the bottom surface of the lifting appliance structure body, and a control tank, a battery cabin and an underwater acoustic communication set are further mounted on the lifting appliance structure body; the actuating mechanism is driven by the electric cylinder, the action of the bolt shaft is realized, the sequential release of multiple loads is completed by controlling the displacement of the bolt shaft, the system is simplified, the structure is compact, and the space utilization rate is high.

Description

Technical Field

[0001] The present invention relates to the field of underwater operation equipment and technology, and in particular to an underwater multi-payload sequential deployment sling and its working process. Background Art

[0002] At present, with the continuous development of the economic society, the demand of mankind for resources is increasing. As an unexploited resource treasure on the earth, the ocean has attracted more and more attention. In ocean scientific research, it is often necessary to sequentially deploy several payloads such as detection instruments and equipment to a predetermined position on the seabed and make them have a certain relative position relationship on the seabed to carry out the detection or monitoring of relevant parameters.

[0003] As a carrier for ocean entry, ocean exploration and ocean development, manned submersibles have unique advantages and play an important role in ocean scientific research. Using a manned submersible to deploy payloads can isolate the interference of the water surface environment on the deployment operation and greatly reduce the deployment height, thus greatly improving the safety and efficiency of deployment, which is the future development direction.

[0004] When using a manned submersible to carry out the deployment of payloads, usually an underwater winch is installed on the manned submersible, and the end of the winch steel cable is connected in series with the payload to be deployed through an acoustic release. After the winch pays out the cable and the payload sits on the seabed, through the action of the acoustic release, the physical connection between the winch steel cable and the payload is disconnected to complete the release of the payload. Since the traditional acoustic release can only complete one release action, multiple voyages are required to complete the sequential deployment of multiple payloads, and the efficiency is very low. If it is to be achieved in a single voyage, multiple acoustic releases are required to connect multiple payloads in series, which not only wastes a great deal of space, reduces reliability, but also it is difficult to eliminate the relative movement between multiple payloads during the hoisting process, and it is easy to cause equipment damage. Summary of the Invention

[0005] The applicant of the present invention aims at the above-mentioned disadvantages in the existing production technology and provides an underwater multi-payload sequential deployment sling and its working process, so as to be applicable to being carried on a manned submersible and capable of realizing the sequential deployment of multiple payloads within a single dive, with stable and reliable operation.

[0006] The technical solution adopted by the present invention is as follows:

[0007] An underwater multi-payload sequential deployment sling includes an underwater steel cable winch installed on a manned submersible. The end of the steel cable of the underwater steel cable winch is connected to a hook. It further includes a sling structure body. A lifting lug matching the hook is arranged at the middle position of the top surface of the sling structure body. A multi-payload sequential release mechanism is installed on the bottom surface of the sling structure body. A control tank, a battery compartment and an underwater acoustic communication machine are also installed on the sling structure body;

[0008] The structure of the multi-load sequential release mechanism is as follows: It includes a central rotating shaft mounting seat fixedly installed on the main body of the sling structure. A gear is installed on the central rotating shaft mounting seat through a central rotating shaft, and a crank is coaxially installed with the gear. One end of the crank is hinged with a first connecting rod and the other end is hinged with a second connecting rod. A first pin shaft guiding seat and a second pin shaft guiding seat are symmetrically arranged at the bottom of the main body of the sling structure. A first pin shaft is installed inside the first pin shaft guiding seat, and a second pin shaft is installed inside the second pin shaft guiding seat. The first connecting rod is fixed to the first pin shaft, and the second connecting rod is fixed to the second pin shaft. An electric cylinder is also installed at the bottom of the main body of the sling structure through an electric cylinder mounting seat. The output end of the electric cylinder is connected to a rack, and the rack is supported by a first rack guiding seat and a second rack guiding seat. The rack is matched with the gear.

[0009] Both the first pin shaft and the second pin shaft are installed with multiple stacked multi-level standardized load frame groups.

[0010] As a further improvement of the above technical solution:

[0011] The main body of the sling structure is of an integral structure and is in a cross-shaped structure.

[0012] A first bearing type force sensor is installed inside the first pin shaft guiding seat, and a second bearing type force sensor is installed inside the second pin shaft guiding seat.

[0013] Both the first pin shaft and the second pin shaft are in a slender strip structure.

[0014] A displacement sensor is also arranged beside the electric cylinder.

[0015] The structure of the multi-level standardized load frame group is as follows: It includes a first-level load frame, a second-level load frame, a third-level load frame... until the Nth-level load frame.

[0016] The structure of each level of load frame is the same. The structure of the first-level load frame is as follows: It includes a frame structure, with double-sided lifting lugs arranged on the top surface of the frame structure, and a payload carrying box below the frame structure.

[0017] Each load frame is of an integral structure. One positioning pin is installed at each of the four corners on the top surface of the payload carrying box, and one positioning hole is installed at each of the four corners on the bottom surface of the payload carrying box.

[0018] The underwater acoustic communication machine is used for underwater acoustic communication between the manned submersible and the sling.

[0019] The working process of an underwater multi-load sequential deployment sling includes the following operating steps:

[0020] The first step, installation of the payload:

[0021] The first-stage payload is fixedly installed in the payload carrier box within the first-stage payload frame, the second-stage payload is fixedly installed in the payload carrier box within the second-stage payload frame... until the Nth stage;

[0022] After that, the Nth-stage payload frame is installed into the (N - 1)th-stage payload frame. At this time, the positioning pin on the upper top surface of the payload carrier box of the (N - 1)th-stage payload frame is inserted into the positioning pin hole on the lower bottom surface of the payload carrier box of the Nth-stage payload frame, and the bilateral lifting lug holes of the Nth-stage payload frame are coaxial with the bilateral lifting lug holes of the (N - 1)th-stage payload frame, completing the connection between the Nth-stage payload frame and the (N - 1)th-stage payload frame;

[0023] After that, taking the connected Nth-stage payload frame and the (N - 1)th-stage payload frame as a whole, the connection with the (N - 2)th-stage payload frame is completed according to the above method;

[0024] And so on, until the connection with all payload frames is completed;

[0025] In the second step, in the debugging mode, control the electric cylinder to retract. Drive the crank to rotate clockwise through the gear-rack mechanism. The crank-link mechanism drives the first insertion pin shaft and the second insertion pin shaft to retract synchronously until the displacement sensor detects that the electric cylinder has retracted in place and then stops. At this time, the first insertion pin shaft retracts into the first insertion pin shaft guide seat, and the second insertion pin shaft retracts into the second insertion pin shaft guide seat. Place the spreader above the bilateral lifting lugs of the Nth-stage payload frame, control the electric cylinder to extend, and the first insertion pin shaft and the second insertion pin shaft extend synchronously. The first insertion pin shaft and the second insertion pin shaft sequentially extend into the bilateral lifting lugs of the Nth stage... until the bilateral lifting lugs of the first-stage payload frame, until the displacement sensor detects that the electric cylinder has extended in place and then stops. At this time, the first insertion pin shaft and the second insertion pin shaft are completely inserted into the bilateral lifting lug holes on each stage of the payload frame;

[0026] In the third step, install a shackle on the lifting lug of the underwater multi-payload sequential deployment spreader, connect it with the hook at the end of the steel wire cable of the underwater winch installed on the manned submersible through the shackle, and install the whole on the manned submersible;

[0027] Step 4: After the manned submersible sails to the target position, the winch pays out the cable to lower the multi-stage standardized load frame group as a whole. After it is seated on the seabed, the manned submersible sends a release instruction through the underwater acoustic communication shore-based unit. The underwater acoustic communication machine on the spreader receives the instruction signal and controls the electric cylinder to retract through the control tank. At this time, the first pin shaft and the second pin shaft retract synchronously. The displacement sensor detects the displacement of the electric cylinder in real time. When the displacement value of the release of the first-stage load frame preset by the control system is reached, the electric cylinder stops retracting, and both the first pin shaft and the second pin shaft are withdrawn from the double-sided lifting lugs above the first-stage load frame. After that, the winch retrieves the cable to lift the spreader together with the payload frame that has not been released from the seabed, completing the release of the first-stage load frame. At this time, by reading the force value changes of the first bearing-type force sensor and the second bearing-type force sensor, it is determined whether the release is completed.

[0028] The manned submersible sails to the next target position and repeats the above deployment actions to complete the release of the second-stage load frame;

[0029] And so on until all the Nth-stage payload frames are released.

[0030] The beneficial effects of the present invention are as follows:

[0031] The present invention has a compact and reasonable structure and is easy to operate. The electric cylinder is used to drive the actuator to realize the movement of the pin shaft, and by controlling the displacement of the pin shaft, the sequential release of multiple loads is completed. The system is simplified, the structure is compact, and the space utilization rate is high.

[0032] The present invention can complete the sequential deployment of multiple payloads in a single voyage, greatly improving the efficiency.

[0033] The actuator of the present invention is a combination of a gear-rack mechanism and a crank-slider mechanism, with a simple structure, high reliability, and good adaptability to the marine environment.

[0034] The present invention has built-in bearing-type force sensors as supplementary criteria for the successful release of the payload, improving the reliability.

[0035] Each payload of the present invention is fixed reliably and is not prone to relative movement during the hoisting process, ensuring high safety. Brief Description of the Drawings

[0036] Figure 1 It is an axonometric view of the underwater multi-payload sequential deployment spreader of the present invention.

[0037] Figure 2 is Figure 1 a partial view of

[0038] Figure 3 It is an axonometric view of the multi-payload sequential release mechanism of the present invention.

[0039] Figure 4 This is a cross-sectional view of the multi-load sequential release mechanism of the present invention.

[0040] Figure 5 This is an axonometric view of the multi-stage standardized load frame group of the present invention.

[0041] Figure 6 This is an axonometric view of the first-stage load frame of the present invention.

[0042] Figure 7 This is an axonometric view of the second-stage load frame of the present invention.

[0043] Wherein: 1. Hoisting tool structure body; 2. Multi-load sequential release mechanism; 3. Control tank; 4. Battery compartment; 5. Underwater communication machine; 6. Multi-stage standardized load frame group;

[0044] 201. No. 1 insertion pin shaft; 202. No. 1 insertion pin shaft guide seat; 203. No. 1 connecting rod; 204. Crank; 205. No. 2 connecting rod; 206. No. 2 insertion pin shaft; 207. No. 2 insertion pin shaft guide seat; 208. Gear; 209. Rack; 2010. Central rotating shaft; 2011. Electric cylinder; 2012. Electric cylinder mounting seat; 2013. No. 1 rack guide seat; 2014. No. 2 rack guide seat; 2015. Displacement sensor; 2016. No. 1 bearing type force sensor; 2017. No. 2 bearing type force sensor; 2018. Central rotating shaft mounting seat;

[0045] 601. First-stage load frame; 602. Second-stage load frame; 603. Third-stage load frame;

[0046] 60101. Frame structure; 60102. Double-sided lifting lugs; 60103. Payload carrying box;

[0047] 6010301. Positioning pin; 6010302. Positioning hole. Specific embodiments

[0048] The following combines with the attached drawings to illustrate the specific embodiments of the present invention.

[0049] As Figures 1-7 shown, the underwater multi-load sequential deployment hoisting tool of this embodiment includes an underwater steel cable winch installed on a manned submersible. The end of the steel cable of the underwater steel cable winch is connected to a hook. It also includes a hoisting tool structure body 1. A lifting lug matching the hook is arranged at the middle position of the top surface of the hoisting tool structure body 1. A multi-load sequential release mechanism 2 is installed at the bottom surface of the hoisting tool structure body 1. A control tank 3, a battery compartment 4 and an underwater communication machine 5 are also installed on the hoisting tool structure body 1;

[0050] The structure of the multi-load sequential release mechanism 2 is as follows: It includes a central rotating shaft mounting seat 2018 fixedly installed on the hoist structure body 1. A gear 208 is installed on the central rotating shaft mounting seat 2018 through a central rotating shaft 2010. A crank 204 is coaxially installed with the gear 208. One end of the crank 204 is hinged with a first connecting rod 203 and the other end is hinged with a second connecting rod 205. Symmetrically arranged at the bottom of the hoist structure body 1 are a first pin shaft guiding seat 202 and a second pin shaft guiding seat 207. A first pin shaft 201 is installed inside the first pin shaft guiding seat 202, and a second pin shaft 206 is installed inside the second pin shaft guiding seat 207. The first connecting rod 203 is fixed to the first pin shaft 201, and the second connecting rod 205 is fixed to the second pin shaft 206. Also installed at the bottom of the hoist structure body 1 through an electric cylinder mounting seat 2012 is an electric cylinder 2011. The output end of the electric cylinder 2011 is connected to a rack 209. The rack 209 is supported by a first rack guiding seat 2013 and a second rack guiding seat 2014. The rack 209 is matched with the gear 208.

[0051] Both the first pin shaft 201 and the second pin shaft 206 are installed with multiple stacked multi-level standardized load frame groups 6.

[0052] The hoist structure body 1 is of an integral structure and is in a cross-shaped structure.

[0053] A first bearing type force sensor 2016 is installed inside the first pin shaft guiding seat 202, and a second bearing type force sensor 2017 is installed inside the second pin shaft guiding seat 207.

[0054] Both the first pin shaft 201 and the second pin shaft 206 are in a slender strip structure.

[0055] A displacement sensor 2015 is also arranged beside the electric cylinder 2011.

[0056] The structure of the multi-level standardized load frame group 6 is as follows: It includes a first-level load frame 601, a second-level load frame 602, a third-level load frame 603... up to the Nth-level load frame.

[0057] The structure of each level of load frame is the same. The structure of the first-level load frame 601 is: It includes a frame structure 60101. On the top surface of the frame structure 60101 are arranged double-sided lifting lugs 60102, and below the frame structure 60101 is an effective load carrying box 60103.

[0058] Each load frame is of an integral structure. On the four corners of the top surface of the effective load carrying box 60103, one positioning pin 6010301 is installed at each corner, and on the four corners of the bottom surface of the effective load carrying box 60103, one positioning hole 6010302 is installed at each corner.

[0059] The underwater acoustic communication machine 5 is used for underwater acoustic communication between the manned submersible and the sling.

[0060] The specific structure and functions of an underwater multi-load sequential deployment sling according to the present invention are as follows:

[0061] It mainly includes: a sling structure body 1, a multi-load sequential release mechanism 2, a control tank 3, a battery compartment 4, an underwater acoustic communication machine 5, a multi-stage standardized load frame group 6, etc.

[0062] Among them, an underwater steel cable winch is installed on the manned submersible, and a hook is connected to the end of the steel cable.

[0063] Among them, a lifting lug is provided directly above the sling structure body 1, and the lifting lug is connected to the hook at the end of the underwater winch steel cable through a shackle.

[0064] Among them, the multi-load sequential release mechanism 2 is installed below the sling structure body 1, and the control tank 3, the battery compartment 4, and the underwater acoustic communication machine 5 are all installed on the sling structure body 1.

[0065] Among them, the multi-stage standardized load frame group 6 is connected to the sling structure body 1 through the multi-load sequential release mechanism 2.

[0066] Among them, the multi-load sequential release mechanism 2 mainly includes: a first insertion pin shaft 201, a first insertion pin shaft guide seat 202, a first connecting rod 203, a crank 204, a second connecting rod 205, a second insertion pin shaft 206, a second insertion pin shaft guide seat 207, a gear 208, a rack 209, a central rotating shaft 2010, an electric cylinder 2011, an electric cylinder mounting seat 2012, a first rack guide seat 2013, a second rack guide seat 2014, a displacement sensor 2015, a first bearing type force sensor 2016, a second bearing type force sensor 2017, a central rotating shaft mounting seat 2018, etc.

[0067] A first pin insertion shaft guide seat 202 has a first bearing type force sensor 2016 installed in its hole, and a second pin insertion shaft guide seat 207 has a second bearing type force sensor 2017 installed in its hole. A first pin insertion shaft 201 is installed in the hole of the first bearing type force sensor 2016 and can axially move along this hole. One end of a first connecting rod 203 is hinged to the first pin insertion shaft 201, and the other end is hinged to one end of a crank 204. The other end of the crank 204 is hinged to one end of a second connecting rod 205, and the other end of the second connecting rod 205 is hinged to a second pin insertion shaft 206. The second pin insertion shaft 206 is installed in the hole of the second bearing type force sensor 2017. The holes of the first pin insertion shaft guide seat 202 and the second pin insertion shaft guide seat 207 are coaxially installed on a spreader structure body 1. There is a hole at the center of the crank 204, and it is installed on a central rotating shaft 2010 through a key connection. A gear is also installed on the central rotating shaft 2010 through a key connection. The central rotating shaft 2010 is installed below the spreader structure body 1 through a central rotating shaft mounting seat 2018. Both ends of a rack 209 are provided with guiding sections, and the guiding sections are inserted into a first rack guide seat 2013 and a second rack guide seat 2014 and can axially move. The end of the guiding section of the rack 209 is hinged to an electric cylinder 2011. An installation displacement sensor 2015 is fixed outside the cylinder body of the electric cylinder 2011 for detecting the displacement of the piston rod extending out.

[0068] Among them, an underwater acoustic communication machine 5 is used for underwater acoustic communication between a manned submersible and the spreader. A battery compartment 4 is used to supply electrical energy to a control tank 3, the electric cylinder 2011, the displacement sensor 2015, the first bearing type force sensor 2016, and the second bearing type force sensor 2017. The control tank 3 is mainly used to control the action of the electric cylinder 2011.

[0069] A multi-stage standardized load frame group 6 is composed of a first-stage load frame 601, a second-stage load frame 602, a third-stage load frame 603... up to the Nth-stage load frame.

[0070] The structure of each frame group is the same. Taking the first-stage load frame 601 as an example, its specific structure is: it is composed of a frame structure 60101, bilateral lifting lugs 60102, and a lower payload carrying box 60103. The bilateral lifting lugs 60102 above the frame structure 60101 are arranged in the middle, with lifting lug holes inside, and the two holes are coaxial. One positioning pin 6010301 is installed at each of the four corners of the upper surface of the payload carrying box 60103, and one positioning hole 6010302 is installed at each of the four corners of the lower bottom surface of the payload carrying box 60103.

[0071] The first-stage load frame 601 is located at the bottom. The second-stage load frame 602 is nested inside the first-stage load frame 601 and is seated on the payload carrier box 60103 within the first-stage load frame 601. Four positioning pins on the top surface of the payload carrier box 60103 within the first-stage load frame 601 are inserted into the positioning holes on the bottom surface of the payload carrier box within the second-stage load frame 602. The third-stage load frame 603 is nested inside the second-stage load frame 602 and is seated on the payload carrier box within the second-stage load frame 602. Four positioning pins on the top surface of the payload carrier box within the second-stage load frame 602 are inserted into the positioning holes on the bottom surface of the payload carrier box within the third-stage load frame 603... and so on until the Nth stage. And the lug holes on the frame structures of all levels of load frames are kept coaxial.

[0072] During the actual working process:

[0073] The first-stage payload is fixedly installed into the payload carrier box 60103 within the first-stage load frame 601, the second-stage payload is fixedly installed into the payload carrier box within the second-stage load frame 602... until the Nth stage. Then the Nth-stage load frame is installed into the (N - 1)th-stage load frame. At this time, the positioning pins on the top surface of the payload carrier box of the (N - 1)th-stage load frame are inserted into the positioning pin holes on the bottom surface of the payload carrier box of the Nth-stage load frame, and the bilateral lug holes of the Nth-stage load frame are coaxial with the bilateral lug holes of the (N - 1)th-stage load frame, completing the connection between the Nth-stage load frame and the (N - 1)th-stage load frame. Then, taking the connected Nth-stage load frame and the (N - 1)th-stage load frame as a whole, according to the above method, the connection with the (N - 2)th-stage load frame is completed. And so on until the connection with all load frames is completed.

[0074] First, the debugging mode is adopted. The electric cylinder 2011 is controlled to retract, driving the crank 204 to rotate clockwise through the rack and pinion mechanism. The crank and connecting rod mechanism drives the first pin shaft 201 and the second pin shaft 206 to retract synchronously until the displacement sensor 2015 detects that the electric cylinder 2011 has retracted in place and then stops. At this time, the first pin shaft 201 retracts into the first pin shaft guide seat 202, and the second pin shaft 206 retracts into the second pin shaft guide seat 207. Place the spreader above the double-sided lifting lugs 60102 on the Nth stage payload frame, control the electric cylinder 2011 to extend, the first pin shaft 201 and the second pin shaft 206 extend synchronously, and the first pin shaft 201 and the second pin shaft 206 sequentially extend into the double-sided lifting lugs 60102 of the Nth stage... until the double-sided lifting lugs 60102 of the first stage payload frame 601, until the displacement sensor 2015 detects that the electric cylinder 2011 has extended in place and then stops. At this time, the first pin shaft 201 and the second pin shaft 206 are completely inserted into the holes of the double-sided lifting lugs 60102 on each stage payload frame. Under the limiting action of the pin shafts, the relative positions of each stage payload frame are fixed well and will not collide during the deployment process.

[0075] After that, install a shackle on the lifting lug of the underwater multi-payload sequential deployment spreader, connect it to the hook at the end of the steel wire cable of the underwater winch installed on the manned submersible through the shackle, and install the whole on the manned submersible.

[0076] After the manned submersible sails to the target position, the winch pays out the cable, and the multi-stage standardized payload frame group 6 is lowered as a whole. After it sits on the seabed, the manned submersible sends a release command through the underwater acoustic communication shore-based unit. The underwater acoustic communication machine 5 on the spreader receives the command signal and controls the electric cylinder 2011 to retract through the control tank 3. At this time, the first pin shaft 201 and the second pin shaft 206 retract synchronously, and the displacement sensor 2015 real-time detects the displacement of the electric cylinder 2011. Until the displacement value of the release of the first stage payload frame 601 preset by the control system is reached, the electric cylinder 2011 stops retracting, and the first pin shaft 201 and the second pin shaft 206 are both pulled out from the double-sided lifting lugs 60102 above the first stage payload frame 601. After that, the winch takes in the cable, lifts the spreader together with the payload frames that have not been released and detached from the seabed, and completes the release of the first stage payload frame 601. At this time, by reading the force value changes of the first bearing type force sensor 2016 and the second bearing type force sensor 2017, it is judged whether the release is completed. If the release is completed, the manned submersible sails to the next target position and repeats the above deployment actions to complete the release of the second stage payload frame 602. And so on, until all the Nth stage payload frames are released. According to the actual deployment requirements, if multiple payloads need to be deployed at one location, the displacement value of the retraction of the release electric cylinder 2011 can be set to realize the release of several consecutive payload frames at one time.

[0077] The above description is an explanation of the present invention, not a limitation thereof. For the scope defined by the present invention, refer to the claims. Any form of modification may be made within the protection scope of the present invention.

Claims

1. An underwater multi-load sequential deployment sling, characterized in that: It includes an underwater steel cable winch installed on a manned submersible. The end of the steel cable of the underwater steel cable winch is connected to a hook. It also includes a sling structure body (1). At the middle position of the top surface of the sling structure body (1), there is a lifting lug matching the hook. At the bottom of the sling structure body (1), a multi-load sequential release mechanism (2) is installed. A control tank (3), a battery compartment (4) and an underwater acoustic communication machine (5) are also installed on the sling structure body (1). The structure of the multi-load sequential release mechanism (2) is as follows: It includes a central rotary shaft mounting seat (2018) fixedly installed on the sling structure body (1). A gear (208) is installed on the central rotary shaft mounting seat (2018) through a central rotary shaft (2010). A crank (204) is coaxially installed with the gear (208). One end of the crank (204) is respectively hinged with a first connecting rod (203) and a second connecting rod (205). A first pin shaft guide seat (202) and a second pin shaft guide seat (207) are symmetrically arranged at the bottom of the sling structure body (1). A first pin shaft (201) is installed inside the first pin shaft guide seat (202), and a second pin shaft (206) is installed inside the second pin shaft guide seat (207). The first connecting rod (203) is fixed to the first pin shaft (201), and the second connecting rod (205) is fixed to the second pin shaft (206). At the bottom of the sling structure body (1), an electric cylinder (2011) is also installed through an electric cylinder mounting seat (2012). The output end of the electric cylinder (2011) is connected to a rack (209). The rack (209) is supported by a first rack guide seat (2013) and a second rack guide seat (2014). The rack (209) matches the gear (208). The first pin shaft (201) and the second pin shaft (206) simultaneously install multiple stacked multi-level standardized load frame groups (6).

2. The underwater multi-load sequential deployment sling according to claim 1, characterized in that: The sling structure body (1) is of an integral structure and is in a cross-shaped structure.

3. The underwater multi-load sequential placement sling according to claim 1, characterized in that: A first bearing type force sensor (2016) is installed inside the first pin shaft guide seat (202), and a second bearing type force sensor (2017) is installed inside the second pin shaft guide seat (207).

4. The underwater multi-load sequential deployment sling according to claim 1, characterized in that: Both the first pin shaft (201) and the second pin shaft (206) are of an elongated strip structure.

5. The underwater multi-load sequential deployment sling according to claim 1, characterized in that: A displacement sensor (2015) is also arranged beside the electric cylinder (2011).

6. The underwater multi-load sequential deployment sling according to claim 1, wherein: The structure of the multi-level standardized load frame group (6) is as follows: It includes a first-level load frame (601), a second-level load frame (602), a third-level load frame (603)... up to the Nth-level load frame.

7. The underwater multi-load sequential deployment sling according to claim 6, characterized in that: The structure of each level of load frame is the same. The structure of the first-level load frame (601) is as follows: It includes a frame structure (60101). On the top surface of the frame structure (60101), there are bilateral lifting lugs (60102). Below the frame structure (60101), there is an effective load carrying box (60103).

8. The underwater multi-load sequential deployment sling according to claim 7, characterized in that: Each load frame is an integral structure. One positioning pin (6010301) is installed at each of the four corners on the upper surface of the payload carrying box (60103), and one positioning hole (6010302) is installed at each of the four corners on the lower bottom surface of the payload carrying box (60103).

9. The underwater multi-load sequential deployment sling according to claim 1, wherein: The underwater communication machine (5) is used for underwater communication between the manned submersible and the sling.

10. The working process of an underwater multi-load sequential placement sling as claimed in claim 1, wherein: It includes the following operation steps: The first step, installation of the payload: Fix the first-stage payload and install it into the payload carrying box (60103) inside the first-stage load frame (601), and fix the second-stage payload and install it into the payload carrying box inside the second-stage load frame (602) … until the Nth stage; After that, install the Nth-stage load frame into the (N - 1)th-stage load frame. At this time, the positioning pin on the upper top surface of the (N - 1)th-stage payload frame carrying box is inserted into the positioning pin hole on the lower bottom surface of the Nth-stage payload frame carrying box, and the bilateral lifting lug holes of the Nth-stage payload frame are coaxial with the bilateral lifting lug holes of the (N - 1)th-stage payload frame, completing the connection between the Nth-stage payload frame and the (N - 1)th-stage payload frame; After that, taking the connected Nth-stage payload frame and the (N - 1)th-stage payload frame as a whole, connect them to the (N - 2)th-stage payload frame according to the above method; And so on, until the connection with all payload frames is completed; The second step, in the debugging mode, control the electric cylinder (2011) to retract. Drive the crank (204) to rotate clockwise through the gear-rack mechanism. The crank-link mechanism drives the first insertion pin shaft (201) and the second insertion pin shaft (206) to retract synchronously until the displacement sensor (2015) detects that the electric cylinder (2011) has retracted in place and then stops. At this time, the first insertion pin shaft (201) retracts into the first insertion pin shaft guide seat (202), and the second insertion pin shaft (206) retracts into the second insertion pin shaft guide seat (207). Place the sling between the bilateral lifting lugs (60102) above the Nth-stage payload frame. Control the electric cylinder (2011) to extend. The first insertion pin shaft (201) and the second insertion pin shaft (206) extend synchronously. The first insertion pin shaft (201) and the second insertion pin shaft (206) extend into the bilateral lifting lugs (60102) of the Nth stage … until the bilateral lifting lugs (60102) of the first-stage load frame (601) in sequence until the displacement sensor (2015) detects that the electric cylinder (2011) has extended in place and then stops. At this time, the first insertion pin shaft (201) and the second insertion pin shaft (206) are completely inserted into the holes of the bilateral lifting lugs (60102) on each stage of the payload frame; The third step, install a shackle on the lifting lug (101) of the underwater multi-payload sequential deployment sling, connect it to the hook at the end of the steel wire cable of the underwater winch installed on the manned submersible through the shackle, and install the whole on the manned submersible; Step 4: After the manned submersible sails to the target position, the winch pays out the cable to lower the multi-stage standardized payload frame group (6) as a whole. After it is seated on the seabed, the manned submersible sends a release instruction through the underwater acoustic communication shore-based unit. The underwater acoustic communication machine (5) on the spreader receives the instruction signal and controls the electric cylinder (2011) to retract through the control tank (3). At this time, the first insertion pin shaft (201) and the second insertion pin shaft (206) retract synchronously. The displacement sensor (2015) detects the displacement of the electric cylinder (2011) in real time. When the displacement value for the release of the first-stage payload frame (601) preset by the control system is reached, the electric cylinder (2011) stops retracting, and the first insertion pin shaft (201) and the second insertion pin shaft (206) are both withdrawn from the double-sided lifting lugs (60102) above the first-stage payload frame (601). After that, the winch takes in the cable to lift the spreader together with the payload frames that have not been released from the seabed, completing the release of the first-stage payload frame (601). At this time, by reading the force value changes of the first bearing-type force sensor (2016) and the second bearing-type force sensor (2017), it is determined whether the release is completed. If the release is completed, the manned submersible sails to the next target position and repeats the above deployment actions to complete the release of the second-stage payload frame (602); And so on until all the Nth-stage payload frames are released.

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