海底管道回收工具是海底管道水上维修的首选提管装备，但在使用过程中发现其与施工船舶匹配和水下机器人操作适应性方面存在问题。以钢球式海底管道回收工具为例，从海底管道回收工程应用实践出发，提出主插入工具过托管架通过性改进方法和水下机器人操作适应性优化设计方案，在分析主插入工具与托管架滚轮箱耦合作用基础上，建立了力学平衡方程，得出主插入工具机械导向机构改进设计依据，并通过增加平衡吊臂HOTSTAB快速接口、对接机构自动对接等方面的改型设计，提升了水下机器人操作适应性和工作效率。新型海底管道回收工具产品已通过工厂第三方见证试验和现场试验验证，提高了海底管道水上维修技术水平。

The submarine pipeline recovery tool is the preferred pipeline lifting equipment for submarine pipeline maintenance. However, there are problems in its matching with the construction vessels and adaptability to the operation of remotely operated vehicles. With the steel ball-type submarine pipeline recovery tool as an example, an improvement method for the passability of the main insertion tool through the stinger and an optimization design scheme for the adaptability of the remotely operated vehicle were both proposed based on practical applications in submarine pipeline recovery engineering. By analyzing the coupling effect between the main insertion tool and the stinger roller box, a mechanical equilibrium equation was established. The design basis for the improvement of the mechanical guidance mechanism of the main insertion tool was obtained. By adding modified designs, including a balance crane arm HOTSTAB quick interface and automatic docking mechanism, the adaptability and work efficiency of remotely operated vehicles were improved. The new submarine pipeline recovery tool has passed third-party witnessed tests and field trials of the factory, advancing the level of above-water maintenance technology for submarine pipelines.