An underwater dismounting-free immersed tube pulling and closing device

Abstract

The utility model relates to the field of sinking pipe pull together, concretely is a kind of sinking pipe pull together device exempt from underwater dismounting, including fixed frame, still include pull rope, abutment mechanism, pull together mechanism and underwater sinking pipe, the end of pull rope is fixed in the surface of fixed frame, the first end of pull rope is connected with hoisting equipment, abutment mechanism is installed in the lower surface of fixed frame, rely on the double positioning structure of roller adhesion and blocking limit, both ensure abutment precision, and avoid sinking pipe outer wall damage problem, four groups of rollers can be simultaneously and underwater sinking pipe outer wall closely adhesion from sinking pipe four around, form four point ring embrace type abutment effect, can effectively limit the deviation of device in sinking pipe radial, avoid the positioning deviation caused by the abutment single point stress, ensure that the docking reference of subsequent pull together mechanism and pull together ear is accurate, the U-shaped blocking seat fixed on the lower surface of abutment frame both sides simultaneously can be synchronously set to underwater sinking pipe surface while abutting roller adhesion, further reinforce device horizontal position from sinking pipe two sides.

Description

Technical Field

[0001] This utility model relates to the field of immersed tube assembly technology, specifically to an immersed tube assembly device that eliminates the need for underwater disassembly and assembly. Background Technology

[0002] In infrastructure projects such as underwater tunnels and cross-sea bridges, the docking and installation of underwater immersed tubes is a core construction link. As a key piece of equipment for achieving precise docking of immersed tubes, the performance of the immersed tube pulling device directly determines the construction efficiency, safety and docking quality. Currently, the mainstream immersed tube pulling devices in the industry still have many technical pain points in practical applications, making it difficult to adapt to the needs of efficient, safe and precise construction in complex underwater environments.

[0003] Existing underwater-free tube assembly and disassembly devices have the following shortcomings: 1. The existing submerged tube connection device's abutment mechanism mostly adopts a single-point or two-point rigid contact positioning method, which cannot form a full-range stable constraint, causing the device to shift in the radial or circumferential direction of the submerged tube. Furthermore, it has no autonomous walking function. When it is found that the axial position of the device and the submerged tube connection lug does not match after abutment positioning, it is necessary to repeatedly raise and lower the rope through external lifting equipment to gradually adjust it to the target docking position.

[0004] 2. The existing tube-pulling and closing devices mostly have a fixed posture design. The angles of the pulling cylinder and the pulling and closing actuator cannot be adjusted. They can only passively wait for the entire device to be positioned to match the angle of the tube-pulling and closing ear before alignment can be achieved. Utility Model Content

[0005] The purpose of this invention is to provide a submerged pipe assembly / disassembly device that eliminates the need for underwater disassembly.

[0006] To achieve this objective, the present invention adopts the following technical solution: A device for assembling and disassembling a submerged tube without underwater installation is provided. The device includes a fixed frame, a pull rope, a contacting mechanism, a closing mechanism, and an underwater submerged tube. The end of the pull rope is fixed to the surface of the fixed frame, and the beginning of the pull rope is connected to a lifting device. The contacting mechanism is installed on the lower surface of the fixed frame and includes a contacting frame, contacting rollers, and barrier seats. The contacting frame is fixed to the lower surface of the fixed frame. There are four sets of contacting rollers arranged in a rectangular array around the contacting frame. Two sets of barrier seats are symmetrically fixed on both sides of the lower surface of the contacting frame. The closing mechanism is installed on one side of the surface of the contacting frame and includes a closing cylinder, a closing frame, and a closing ear. The closing cylinder is located on one side of the contacting frame. The closing frame has a U-shaped structure and is fixed at the output end of the closing cylinder. The underwater submerged tube is located underwater, and the closing ear is located on the surface of the underwater submerged tube. The closing groove inside the closing ear is adapted to the contour of the closing frame.

[0007] Preferably, the contacting mechanism further includes a bidirectional lead screw, a moving frame, and a contacting motor. The bidirectional lead screw is rotatably connected inside the contacting frame through a bearing seat. The contacting motor is fixed on one side of the surface of the contacting frame, and the output end of the contacting motor is fixedly connected to one end of the bidirectional lead screw. Two sets of moving frames are symmetrically threaded onto the threaded sections on both sides of the surface of the bidirectional lead screw.

[0008] Preferably, the inside of the contact frame is provided with a moving groove that is adapted to the moving frame. The two sides of the moving frame slide against the inner wall of the moving groove. The four contact rollers are arranged in pairs on the same side. The four contact rollers are rotatably connected to the inside of the moving frame through a rotating shaft.

[0009] Preferably, the contacting mechanism further includes a traveling motor and a synchronous belt. The traveling motor is slidably connected to the surface of the contacting frame through the frame. The output end of the traveling motor is fixedly connected to one end of the rotating shaft of one of the contacting rollers. The synchronous belt is connected between two contacting rollers on the same side through pulleys.

[0010] Preferably, a pull-fit seat is fixed to the surface of the underwater submerged pipe, and a pull-fit ear is fixed to the surface of the pull-fit seat.

[0011] Preferably, the pulling and closing mechanism further includes a support frame, a tilting cylinder, and a swing arm. The support frame is fixed to the surface of the abutment frame. One end of the tilting cylinder is hinged to the surface of the support frame via a hinge seat. The swing arm is hinged to the end of the support frame via a hinge shaft. The cylinder body of the pulling and closing cylinder is fixed to the surface of the swing arm. The output end of the tilting cylinder is hinged to the surface of the swing arm, and the tilting cylinder and the pulling and closing cylinder are set at an angle.

[0012] Preferably, the barrier seat has a U-shaped structure, an elastic buffer pad is fixed on the inner side wall of the barrier seat, the inner diameter of the barrier seat is adapted to the outer diameter of the underwater submerged pipe, and the two sides of the opening end of the pull-close frame are provided with a chamfer structure, and the opening direction of the pull-close frame is perpendicular to the axial direction of the underwater submerged pipe.

[0013] The beneficial effects of this utility model are: 1. This utility model discloses a submerged tube pulling device that eliminates the need for underwater disassembly and assembly. It features double reinforcement through close-fitting positioning, ensuring high precision and eliminating the risk of damage to the submerged tube. Utilizing a dual positioning structure of roller contact and blocking limit, it ensures contact accuracy while avoiding damage to the outer wall of the submerged tube. Four sets of contact rollers are arranged in a rectangular array inside two sets of moving frames. As the spacing of the moving frames is adjusted, the four sets of rollers can simultaneously and tightly contact the outer wall of the underwater submerged tube from all four sides, forming a four-point encircling contact effect. This effectively limits the device's radial displacement within the submerged tube, avoiding positioning deviations caused by single-point force application. This ensures accurate docking of the subsequent pulling mechanism with the pulling ears. The U-shaped blocking seats, symmetrically fixed on both sides of the lower surface of the contact frame, can be simultaneously fitted onto the surface of the underwater submerged tube while the contact rollers are in contact, further reinforcing the lateral position of the device from both sides of the submerged tube and preventing the device from rotating circumferentially along the submerged tube.

[0014] 2. This utility model provides a submerged tube assembly / disassembly device that eliminates the need for underwater disassembly. Its axial movement is autonomously controllable, eliminating the need for repeated device lowering and adjustment, significantly improving operational efficiency. Addressing the cumbersome issue of traditional bonding devices requiring repeated lowering and axial position adjustments using lifting equipment, the bonding mechanism integrates autonomous movement, enabling flexible movement along the submerged tube axis. When adjusting the docking position between the device and the engagement lugs, simply activating the walking motor rotates the bonding roller shaft. Furthermore, since all four bonding rollers are tightly fitted to the outer wall of the underwater submerged tube, their rotation smoothly drives the entire bonding mechanism, the upper fixing frame, and the one-sided engagement mechanism along the underwater submerged tube axis. This eliminates the need for repeated rope adjustments using lifting equipment, saving time spent on frequent starting, stopping, and positioning of the lifting equipment, and avoiding the risk of collisions between the device and the submerged tube during repeated lowering. This significantly shortens the interval between bonding positioning and engagement, improving overall operational efficiency.

[0015] 3. This utility model provides a non-underwater disassembly and assembly submerged tube assembly / disassembly device. The assembly / disassembly cylinder can be flexibly rotated, significantly reducing the difficulty of underwater alignment and improving the accuracy of the docking reference. Addressing the problems of traditional assembly / disassembly mechanisms having a fixed posture, passively waiting for alignment, and difficulty in adjusting to match the assembly / disassembly angle with the submerged tube assembly components in underwater environments without visibility, the assembly / disassembly mechanism is designed with an independent posture adjustment module. This allows the assembly / disassembly cylinder to rotate and align at multiple angles. During operation, simply activating the rotation cylinder drives the swing arm, which is hinged to its surface, to rotate smoothly around the hinge axis at the end of the support frame. Because the cylinder body is directly fixed to the surface of the swing arm, and the rotation... The cylinder and the pulling cylinder are set at an angle. When the swing arm flips, it can synchronously drive the pulling cylinder to rotate with it, forming a transmission logic from the flipping cylinder to the swing arm and then to the pulling cylinder following. This enables multi-angle attitude adjustment of the pulling frame at the output end of the pulling cylinder. No underwater manual assistance is required for alignment. By simply controlling the extension and retraction of the flipping cylinder, the pulling frame can be precisely adjusted to match the angle of the pulling lug on the surface of the underwater submerged pipe. This effectively avoids the drawback of traditional fixed-position pulling mechanisms that require repeated adjustments of the entire device position for alignment. It ensures that the docking reference between the pulling frame and the pulling lug is accurate, laying a stable foundation for subsequent clamping and pulling operations.

[0016] 4. This utility model provides a submerged pipe pulling and closing device that eliminates the need for underwater disassembly. The pulling and closing frame and the pulling and closing ear have a strong compatibility structure, resulting in efficient underwater locking and a low risk of disengagement, thus improving locking reliability. Addressing the problem of difficult locking due to lack of underwater visibility and susceptibility to water flow interference, the pulling and closing mechanism achieves rapid and stable locking through structural adaptation. The pulling and closing frame adopts a U-shaped structure, and the pulling and closing groove inside the pulling and closing ear is perfectly matched to the contour of the pulling and closing frame. During locking, the pulling and closing frame can be completely embedded in the pulling and closing groove, forming a fixed effect of frame and groove interlocking. Compared with the traditional hook-type locking, the contact area is larger and the force is more even after locking, which can effectively resist the impact of underwater water flow on the locking and closing components, prevent the pulling and closing frame from disengaging from the pulling and closing ear after locking, and ensure that the subsequent locking force transmission is uninterrupted. At the same time, the opening direction of the pulling and closing frame is perpendicular to the underwater submerged pipe axis, and the locking direction is consistent with the subsequent locking direction, which can reduce the lateral force on the locking part during locking and further reduce the risk of disengagement. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below.

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the structure of the mounting frame and the underwater submerged pipe of this utility model; Figure 3 This is a schematic diagram of the structure of the bonding frame and bonding roller of this utility model; Figure 4 This is a cross-sectional view of the mounting bracket of this utility model; Figure 5 This is a schematic diagram of the support frame and underwater submerged pipe of this utility model; Figure 6 This is a schematic diagram of the support frame and pull-open frame of this utility model; In the diagram: 1. Fixed frame; 2. Pull rope; 3. Abutting mechanism; 4. Abutting frame; 5. Two-way lead screw; 6. Moving frame; 7. Abutting motor; 8. Abutting roller; 9. Travel motor; 10. Synchronous belt; 11. Barrier seat; 12. Pulling-closing mechanism; 13. Support frame; 14. Tilting cylinder; 15. Swing arm; 16. Pulling-closing cylinder; 17. Pulling-closing frame; 18. Pulling-closing seat; 19. Pulling-closing ear; 20. Underwater submerged pipe. Detailed Implementation

[0019] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0020] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual images. They should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product.

[0021] Reference Figures 1 to 6 The illustrated underwater-free submerged tube assembly / disassembly device includes a fixed frame 1, a pull rope 2, a contacting mechanism 3, an assembly / disassembly mechanism 12, and an underwater submerged tube 20. The end of the pull rope 2 is fixed to the surface of the fixed frame 1, and the beginning of the pull rope 2 is externally connected to a lifting device. The contacting mechanism 3 is installed on the lower surface of the fixed frame 1 and includes a contacting frame 4, contacting rollers 8, and barrier seats 11. The contacting frame 4 is fixed to the lower surface of the fixed frame 1. Four sets of contacting rollers 8 are arranged in a rectangular array around the contacting frame 4. Two sets of barrier seats 11 are symmetrically fixed on both sides of the lower surface of the contacting frame 4. The assembly / disassembly mechanism 12 is installed on one side of the surface of the contacting frame 4 and includes an assembly cylinder 16, an assembly frame 17, and an assembly ear 19. The pulling cylinder 16 is set on one side of the abutment frame 4. The pulling frame 17 has a U-shaped structure and is fixed at the output end of the pulling cylinder 16. The underwater tube 20 is set underwater. The pulling ear 19 is set on the surface of the underwater tube 20, and the pulling groove opened inside the pulling ear 19 is adapted to the contour of the pulling frame 17. In the initial positioning and lowering of the device, the fixed frame 1 is used as the overall support foundation of the device. The end of the pulling rope 2 is fixed to the surface of the fixed frame 1. The first end of the pulling rope 2 is connected to the lifting equipment. The pulling rope 2 is controlled by the lifting equipment to lower the fixed frame 1 and the abutment mechanism 3 and the pulling mechanism 12 integrated below to the designated underwater area. The underwater tube 20 to be pulled is initially aligned, and the overall initial positioning of the device is completed.

[0022] Reference Figures 1 to 3 The contacting mechanism 3 also includes a bidirectional lead screw 5, a moving frame 6, and a contacting motor 7. The bidirectional lead screw 5 is rotatably connected to the inside of the contacting frame 4 via a bearing seat. The contacting motor 7 is fixed to one side of the surface of the contacting frame 4, and the output end of the contacting motor 7 is fixedly connected to one end of the bidirectional lead screw 5. Two sets of moving frames 6 are symmetrically threaded onto the threaded sections on both sides of the surface of the bidirectional lead screw 5. The position adjustment of the contacting mechanism 3 is used to clamp and contact the underwater submerged pipe 20. After initial positioning, the contacting mechanism 3 achieves precise contact between the device and the underwater submerged pipe 20. The moving frame 6... The spacing is adjusted, and the contact motor 7 in the contact mechanism 3 is started. The output end of the contact motor 7 drives the bidirectional lead screw 5 to rotate around the bearing seat inside the contact frame 4. Because the two sets of moving frames 6 are symmetrically threaded on the threaded sections on both sides of the surface of the bidirectional lead screw 5, the threads rotate in opposite directions, and the contact frame 4 has a moving groove that matches the moving frame 6. The two sides of the moving frame 6 slide against the inner wall of the moving groove. When the bidirectional lead screw 5 rotates, the two sets of moving frames 6 move synchronously towards or in opposite directions along the moving groove until the spacing between the two sets of moving frames 6 matches the outer diameter of the underwater submerged pipe 20.

[0023] Reference Figure 6 The inner part of the abutment frame 4 is provided with a moving groove that is adapted to the moving frame 6. The two sides of the moving frame 6 slide against the inner wall of the moving groove. The four abutment rollers 8 are arranged in pairs on the same side. The four abutment rollers 8 are rotatably connected to the inside of the moving frame 6 through a rotating shaft. The abutment rollers 8 are in contact with the underwater submerged pipe 20. As the spacing of the moving frame 6 is adjusted to the position, the abutment rollers 8 installed inside the moving frame 6 gradually approach the outer wall of the underwater submerged pipe 20 until all four sets of abutment rollers 8 are tightly in contact with the outer wall of the underwater submerged pipe 20. At the same time, the U-shaped barrier seats 11 symmetrically fixed on both sides of the lower surface of the abutment frame 4 are fitted onto the surface of the underwater submerged pipe 20 to complete the abutment positioning.

[0024] Reference Figures 3 to 4 The abutment mechanism 3 also includes a traveling motor 9 and a synchronous belt 10. The traveling motor 9 is slidably connected to the surface of the abutment frame 4 via a frame. The output end of the traveling motor 9 is fixedly connected to one end of the rotating shaft of one set of abutment rollers 8. The synchronous belt 10 is connected between two abutment rollers 8 on the same side via pulleys. The abutment mechanism 3 travels along the underwater submerged pipe 20. If it is necessary to adjust the axial position of the device on the underwater submerged pipe 20, the traveling motor 9 in the abutment mechanism 3 is started, and the output end of the traveling motor 9 drives the fixedly connected device. The shaft of one set of contact rollers 8 rotates. Since the two contact rollers 8 on the same side are connected by a pulley to the synchronous belt 10, the actively rotating contact roller 8 drives the other set of contact rollers 8 on the same side to rotate synchronously through the synchronous belt 10. All four sets of contact rollers 8 are in contact with the outer wall of the underwater submerged pipe 20. When the rollers rotate, they drive the entire contact mechanism 3, the upper fixed frame 1, and the one-side pulling mechanism 12 to move smoothly along the axis of the underwater submerged pipe 20 until they move to the docking position corresponding to the pulling ear 19, and then the walking motor 9 is turned off.

[0025] Reference Figure 2 , Figure 5The surface of the underwater submerged pipe 20 is fixed with a pulling seat 18, and a pulling ear 19 is fixed to the surface of the pulling seat 18. The pulling mechanism 12 also includes a support frame 13, a tilting cylinder 14, and a swing arm 15. The support frame 13 is fixed to the surface of the abutment frame 4. One end of the tilting cylinder 14 is hinged to the surface of the support frame 13 through a hinge seat. The swing arm 15 is hinged to the end of the support frame 13 through a hinge shaft. The cylinder body of the pulling cylinder 16 is fixed to the surface of the swing arm 15. The output end of the tilting cylinder 14 is hinged to the surface of the swing arm 15, and the tilting cylinder 14 and the pulling cylinder 16 are set at an angle. The attitude adjustment of the pulling mechanism 12 is related to the pulling dock. When the device moves... After reaching the docking position, the pulling mechanism 12 is used to pull the tube 20 into place. The pulling cylinder 16 rotates and is supported by the support frame 13 fixed on the surface of the abutment frame 4. The flipping cylinder 14 in the pulling mechanism 12 is activated. The output end of the flipping cylinder 14 extends and retracts, causing the swing arm 15, which is hinged to its surface, to rotate around the hinge axis. Since the cylinder body of the pulling cylinder 16 is fixed on the surface of the swing arm 15, and the flipping cylinder 14 and the pulling cylinder 16 are set at an angle, the swing arm 15 rotates synchronously and drives the pulling cylinder 16 to rotate until the pulling frame 17 at the output end of the pulling cylinder 16 is aligned with the pulling ear 19 on the surface of the underwater tube 20. Then the flipping cylinder 14 is closed.

[0026] Reference Figure 3 , Figure 5 , Figure 6 The barrier seat 11 has a U-shaped structure, and an elastic buffer pad is fixed to the inner wall of the barrier seat 11. The inner diameter of the barrier seat 11 is adapted to the outer diameter of the underwater submerged tube 20. The opening end of the pull-fit frame 17 is provided with a chamfered structure on both sides, and the opening direction of the pull-fit frame 17 is perpendicular to the axial direction of the underwater submerged tube 20. The pull-fit frame 17 is engaged with the pull-fit ear 19. When the pull-fit cylinder 16 is activated, the output end of the pull-fit cylinder 16 pushes the U-shaped pull-fit frame 17 to move towards the pull-fit ear 19. Because the opening end of the pull-fit frame 17 is provided with a chamfered structure on both sides, the difficulty of engagement and alignment can be reduced. In addition, the opening direction of the pull-fit frame 17 is perpendicular to the axial direction of the underwater submerged tube 20. The inside of the pull-fit ear 19... The pull-opening groove and the pull-opening frame 17 are adapted to each other. The pull-opening frame 17 is gradually inserted into the pull-opening groove of the pull-opening ear 19 to complete the engagement. The pull-opening cylinder 16 is closed, and the underwater submerged pipe 20 is pulled open. After the pull-opening frame 17 and the pull-opening ear 19 are engaged, the pull-opening cylinder 16 is started in the reverse direction. The output end of the pull-opening cylinder 16 drives the pull-opening frame 17 to retract away from the underwater submerged pipe 20. The pull-opening frame 17 and the pull-opening ear 19 are engaged and fixed. The retraction force is transmitted to the underwater submerged pipe 20 through the pull-opening ear 19 and the pull-opening seat 18, which drives the underwater submerged pipe 20 to move in the specified direction to realize the pull-opening of the submerged pipe. After the pull-opening is in place, the retracted state of the output end of the pull-opening cylinder 16 is maintained to complete a single pull-opening operation.

[0027] For device reset and subsequent operations, if it is necessary to release or transfer the pulling device, first reverse the pulling cylinder 16 to disengage the pulling frame 17 from the pulling groove of the pulling ear 19, then activate the tilting cylinder 14 to tilt and reset the pulling cylinder 16 and the pulling frame 17. Then activate the contact motor 7 to move the two sets of moving frames 6 in opposite directions, disengage the contact roller 8 from the outer wall of the underwater submerged pipe 20, and disengage the barrier seat 11 from both sides of the underwater submerged pipe 20. Finally, control the pull rope 2 through the external lifting equipment to simultaneously lift the fixed frame 1 and each mechanism out of the water, completing the device reset for subsequent operations or transfer to other work areas.

[0028] The spacing adjustment is precise and controllable, adaptable to multiple specifications of underwater immersed tubes 20, and its versatility is significantly improved. It can adapt to the need for underwater immersed tubes 20 with different outer diameters without replacing any parts. During operation, only the contact motor 7 needs to be started to drive the two sets of moving frames 6 to move synchronously and smoothly towards or in opposite directions along the moving groove. The spacing adjustment process is smooth and without deviation, and can accurately match the size requirements of underwater immersed tubes 20 with different outer diameters. There is no need to design contact parts separately for immersed tubes of different specifications, which greatly reduces the investment cost of construction equipment and improves the reusability of the device in immersed tube projects in multiple scenarios.

Claims

1. A submerged tube assembly / disassembly device that eliminates the need for underwater assembly and disassembly, comprising a fixing frame (1), characterized in that: It also includes a pull rope (2), a contacting mechanism (3), a pulling mechanism (12), and an underwater submerged pipe (20). The end of the pull rope (2) is fixed to the surface of the fixed frame (1), and the head of the pull rope (2) is connected to a lifting device. The contacting mechanism (3) is installed on the lower surface of the fixed frame (1). The contacting mechanism (3) includes a contacting frame (4), contacting rollers (8), and a barrier seat (11). The contacting frame (4) is fixed to the lower surface of the fixed frame (1). There are four sets of contacting rollers (8), which are distributed in a rectangular array around the contacting frame (4). Two sets of barrier seats (11) are symmetrically fixed. On both sides of the lower surface of the abutment frame (4), the pulling mechanism (12) is installed on one side of the surface of the abutment frame (4). The pulling mechanism (12) includes a pulling cylinder (16), a pulling frame (17) and a pulling ear (19). The pulling cylinder (16) is located on one side of the abutment frame (4). The pulling frame (17) has a U-shaped structure and is fixed at the output end of the pulling cylinder (16). The underwater tube (20) is located underwater. The pulling ear (19) is located on the surface of the underwater tube (20), and the pulling groove opened inside the pulling ear (19) is adapted to the contour of the pulling frame (17).

2. The underwater-free submersible pipe pulling and closing device according to claim 1, characterized in that: The contact mechanism (3) also includes a bidirectional lead screw (5), a moving frame (6) and a contact motor (7). The bidirectional lead screw (5) is rotatably connected to the inside of the contact frame (4) through a bearing seat. The contact motor (7) is fixed on one side of the surface of the contact frame (4), and the output end of the contact motor (7) is fixedly connected to one end of the bidirectional lead screw (5). Two sets of moving frames (6) are symmetrically threaded onto the threaded sections on both sides of the surface of the bidirectional lead screw (5).

3. The underwater-free submersible pipe pulling and closing device according to claim 2, characterized in that: The inside of the abutment frame (4) is provided with a moving groove that is compatible with the moving frame (6). The two sides of the moving frame (6) slide against the inner wall of the moving groove. The four abutment rollers (8) are arranged in pairs on the same side. The four abutment rollers (8) are rotatably connected to the inside of the moving frame (6) through a rotating shaft.

4. The underwater-free submersible pipe pulling and closing device according to claim 1, characterized in that: The contact mechanism (3) also includes a walking motor (9) and a synchronous belt (10). The walking motor (9) is slidably connected to the surface of the contact frame (4) through the frame. The output end of the walking motor (9) is fixedly connected to one end of the shaft of one of the contact rollers (8). The synchronous belt (10) is connected between two contact rollers (8) on the same side through pulleys.

5. The underwater-free submersible pipe pulling and closing device according to claim 1, characterized in that: The surface of the underwater submerged pipe (20) is fixed with a pull-fit seat (18), and the pull-fit ear (19) is fixed on the surface of the pull-fit seat (18).

6. The underwater-free submersible pipe pulling and closing device according to claim 1, characterized in that: The pulling mechanism (12) also includes a support frame (13), a tilting cylinder (14), and a swing arm (15). The support frame (13) is fixed on the surface of the abutment frame (4). One end of the tilting cylinder (14) is hinged to the surface of the support frame (13) through a hinge seat. The swing arm (15) is hinged to the end of the support frame (13) through a hinge shaft. The cylinder body of the pulling cylinder (16) is fixed on the surface of the swing arm (15). The output end of the tilting cylinder (14) is hinged to the surface of the swing arm (15), and the tilting cylinder (14) and the pulling cylinder (16) are set at an angle.

7. The underwater-free submersible pipe pulling and closing device according to claim 1, characterized in that: The barrier seat (11) has a U-shaped structure. An elastic buffer pad is fixed on the inner side wall of the barrier seat (11). The inner diameter of the barrier seat (11) is matched with the outer diameter of the underwater submerged pipe (20). The opening end of the pull-fit frame (17) is provided with a chamfer structure on both sides, and the opening direction of the pull-fit frame (17) is perpendicular to the axial direction of the underwater submerged pipe (20).

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