The invention discloses a continuous glass fiber composite reinforced pipe winding machine and a using method of the continuous glass fiber composite reinforced pipe winding machine. The continuous glass fiber composite reinforced pipe winding machine comprises a winding main shaft, a glass fiber disc, a winding disc, at least three guide rods, a first transmission set and a second transmission set. A core pipe penetrates through the winding main shaft, one end of the winding main shaft is sleeved with the glass fiber disc, the glass fiber disc is rotationally connected with the winding main shaft, a glass fiber belt is wound in the glass fiber disc, one end of the glass fiber belt is wound at one end of the core pipe, the winding main shaft is sleeved with the winding disc, the winding disc and the winding main shaft are fixedly connected, two of the guide rods are movably arranged on the periphery of the winding disc, the other guide rod is movably arranged at one end of the windingmain shaft, the glass fiber belt abuts against the three guide rods, the first transmission set is in transmission connection with the winding main shaft, the second transmission set is arranged on the winding disc, and the second transmission set is in transmission connection with the glass fiber disc. The structure is simple, the fault rate is low, the equipment production and manufacturing costis low, and equipment operation, maintenance and use are greatly improved.