A filament winding robot for defective pipes in complex environments

Abstract

The present invention belongs to the technical field of pipeline repair equipment, and specifically relates to a fiber winding robot for defective pipelines in complex environments. The present invention includes a winding device for winding fibers, at least two sets of supporting devices for supporting the winding device on the outside of the pipeline to be wound, and a transmission mechanism installed on the supporting device for driving the winding device to move along the pipeline axis and a steering device for adjusting the winding inclination angle of the winding device; both the supporting device and the winding device are provided with openings for clamping the pipeline to be wound, and multiple sets of supporting devices are arranged in sequence along the axis of the pipeline to be wound and are all located on one side of the winding device. The winding device can perform annular winding, spiral winding, or multi-layer staggered winding when winding the fiber on the pipeline to be wound, so that the angle of inclination of the fiber winding on the pipeline axis is adjustable, thereby being suitable for use in defective pipeline reinforcement requirements with various winding process requirements, and has a wide range of applications.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline repair equipment, and in particular relates to a fiber winding robot for defective pipelines in complex environments. Background Art

[0002] Existing oil and gas pipelines frequently experience leaks and explosions due to localized corrosion and crack propagation, severely impacting economic development and the ecological environment. Existing repair methods for these pipelines typically include pipe segment replacement welding, jacket repair, and composite material repair techniques. However, pipe segment replacement welding suffers from harsh repair environments, high repair costs, and the need for pipeline downtime. Jacket repair also suffers from its inability to repair elbows or special-shaped pipes.

[0003] For composite material repair, pipeline fiber winding repair has the advantages of no fire, no downtime and low maintenance cost, and can also avoid the shortcomings of the above two repair methods. However, it is currently mainly achieved by workers winding reinforced fiber cloth on the pipeline to be repaired. The manual winding method of fiber reinforced materials is prone to problems such as uneven tension control and uneven stacking of fiber reinforced tapes. In addition, traditional fiber repair is also affected by the environment in which the pipeline is located. For example, when encountering complex environments such as narrow spaces around the pipeline, large-diameter pipelines, vertical reaction vessels, vertical towers and high-temperature pipelines, manual fiber winding repair methods will not be able to achieve fiber winding work. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects in the prior art of composite material repair process that manual fiber winding is required and the fiber winding is uneven, and to provide a fiber winding robot for defective pipes in complex environments that can automatically wind fibers and achieve multiple winding angles.

[0005] The present invention solves its technical problem by adopting a technical solution: a fiber winding robot for a defective pipe in a complex environment, comprising a winding device for winding fibers, at least two sets of supporting devices for supporting the winding device on the outside of the pipe to be wound, a transmission mechanism mounted on the supporting devices for driving the winding device to move along the pipe axis, and a steering device for adjusting the winding inclination angle of the winding device; both the supporting devices and the winding device are provided with openings for clamping the pipe to be wound, and multiple sets of the supporting devices are arranged in sequence along the axis of the pipe to be wound and are all located on one side of the winding device;

[0006] The steering device includes an angle adjustment motor installed on one group of the support devices and an active angle adjustment pulley fixedly installed on the support device, the output shaft of the angle adjustment motor is arranged to transmit the active angle adjustment pulley, and a driven angle adjustment pulley is fixedly installed on another group of the support devices; the active angle adjustment pulley and the driven angle adjustment pulley are synchronously driven by a synchronous belt;

[0007] When the steering device adjusts the angle of the supporting device, the supporting device drives the winding device to make a follow-up angle adjustment through the transmission mechanism.

[0008] Furthermore, the support device is composed of two groups; the support device includes a support outer frame, a support inner frame, and a plurality of tightening telescopic rods circumferentially arranged on the support inner frame; the support outer frame is fixedly installed with the support inner frame;

[0009] When the supporting device is installed on the outside of the fiber pipe to be wound, the telescopic direction of the tightening telescopic rod is parallel to the radial direction of the fiber wound pipe.

[0010] Furthermore, the transmission mechanism includes at least two groups of electric push rods respectively located on both sides of the supporting device, the fixed ends of the electric push rods are fixedly installed with multiple supporting devices in sequence, and the telescopic ends of the electric push rods are fixedly connected to the winding device.

[0011] Furthermore, the winding device includes a winding outer frame, a winding inner frame slidingly connected to the inner side of the winding outer frame, a fiber mounting assembly installed on the side of the winding inner frame close to the pipe, and a winding drive assembly for driving the winding inner frame to rotate along the winding outer frame.

[0012] Further, the fiber installation assembly includes at least one fiber installation frame for installing the fiber roll and at least one guide frame for guiding the fiber;

[0013] The fiber pulling direction between the fiber mounting frame and the guide frame is opposite to the winding direction of the fiber on the pipeline.

[0014] Furthermore, the winding drive assembly includes a winding drive motor mounted on the winding outer frame and at least three transmission wheel groups circumferentially arranged on the winding outer frame, and the output shaft of the winding drive motor rotates synchronously with the transmission wheel group through a belt drive assembly.

[0015] Furthermore, the transmission wheel group is three groups, and the transmission wheel group includes a transmission wheel support rotatably mounted on the winding outer frame, a first gear rotatably mounted on the transmission wheel support, a second gear externally meshed with the first gear, and a friction wheel coaxially arranged with the second gear;

[0016] The friction wheels are in contact with the winding inner frame, and the friction wheels of the three groups of transmission wheel groups drive the winding inner frame to rotate along the inner wall of the winding outer frame.

[0017] Furthermore, the belt drive group includes a driving pulley mounted on the winding outer frame and coaxially arranged with the output shaft of the winding drive motor, a first driven pulley and a second driven pulley driven along the Y-axis direction by a synchronous belt with the driving pulley, and a third driven pulley and a fourth driven pulley arranged along the Z-axis direction;

[0018] The driving pulley is connected to the first driven pulley and the third driven pulley, the first driven pulley and the second driven pulley, and the second driven pulley and the fourth driven pulley respectively through a synchronous belt transmission.

[0019] Furthermore, a floating mechanism for driving the transmission wheel group to float is also installed on the winding outer frame, and the floating mechanism includes a first floating rod fixedly installed on the winding outer frame, a second floating rod fixedly installed on the transmission wheel group, and an elastic member installed between the first floating rod and the second floating rod.

[0020] Furthermore, it also includes a tension control device installed on the winding device, and the tension control device includes a generator installed on the guide frame and coaxially arranged with the guide shaft and a damper electrically connected to the generator.

[0021] The beneficial effects of the fiber winding robot for defective pipes in a complex environment of the present invention are:

[0022] 1. The present invention adopts multiple supporting devices located on one side of the winding device to support the winding device and position it relative to the pipe to be wound, which can accurately and conveniently realize the positioning of the winding device and the pipe, and a steering device is provided on the supporting device to drive the angle of the winding device relative to the axis of the pipe to be wound. The supporting device, the transmission mechanism and the winding device form a parallelogram structure with adjustable angle and relative stability, that is, the winding device can perform annular winding, spiral winding or multi-layer staggered winding when winding the fiber on the pipe to be wound, so that the angle of the inclined pipe axis of the fiber wound on the pipe is adjustable, thereby being suitable for the use of defective pipe reinforcement requirements required by various winding processes, having a wide range of applications, and also ensuring that the fiber filaments or fiber strips can be evenly and fully wound on the pipe, which is convenient and reliable to use.

[0023] 2. During use, the present invention avoids the defect of the jacket repair method in the prior art that the interface between the main pipeline and the branch pipeline cannot be repaired. The present invention can avoid the branch pipes of the main pipeline and realize the repair of multiple defective pipe sections. The supporting device adopts multiple circumferentially arranged tightening telescopic rods to fix the pipeline. Each telescopic rod is controlled separately, which can realize the repair of special-shaped pipes.

[0024] 3. The present invention is provided with at least one fiber mounting frame for mounting a fiber roll and at least one guide frame for guiding the fibers. The direction of pulling the fibers between the fiber mounting frame and the guide frame is opposite to the direction in which the fibers are wound around the pipe. This ensures that the fiber filaments have a certain tension when wound around the pipe. At the same time, a tension control device is installed on the inner wall of the winding inner frame. The power source of the tension control device is provided by the electricity generated by the generator driven by the movement of the fiber belt. There is no need for an external power supply on the winding inner frame, thus avoiding the problem of power cord entanglement or damage caused by the frequent rotation of the winding inner frame. In addition to increasing the damping of the fiber filament winding, the tension control device also serves to control the winding tension of the fiber filament according to the requirements of use.

[0025] 4. The present invention has strong scalability and can further integrate an infrared detection system, an ultrasonic detection device and a pipeline crawling system into the robot to realize multiple functions such as pipeline monitoring and repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] Figure 1 is a perspective view of a robot according to an embodiment of the present invention;

[0028] Figure 2 yes Figure 1 The main view;

[0029] Figure 3 Schematic diagram of the installation of the robot and pipeline according to an embodiment of the present invention;

[0030] Figure 4 is a schematic structural diagram of a support device and a steering device from a first perspective according to an embodiment of the present invention;

[0031] Figure 5 is a schematic structural diagram of the support device and the steering device from a second perspective according to an embodiment of the present invention;

[0032] Figure 6 1 is a schematic structural diagram of a steering gear set in a steering device according to an embodiment of the present invention;

[0033] Figure 7 is a first perspective perspective view of a winding device according to an embodiment of the present invention;

[0034] Figure 8 yes Figure 7 Rear view of the

[0035] Figure 9 This is a stereoscopic view from a second perspective of the winding device according to an embodiment of the present invention.

[0036] In the figure: 1. Winding device, 11. Winding outer frame, 12. Winding inner frame, 13. Fiber mounting assembly, 131. Fiber mounting frame, 132. Guide frame, 14. Winding drive assembly, 141. Winding drive motor, 142. Transmission wheel group, 1421. Transmission wheel support, 1422. First gear, 1423. Second gear, 1424. Friction wheel, 143. Belt transmission assembly, 1431. Active pulley, 1432. First driven pulley, 1433. Second driven pulley, 1434. Third driven pulley, 1435. Fourth driven pulley, 15. Drag reduction device, 2. Support device, 21. Support outer frame, 22. Support inner frame, 23. Tightening telescopic rod, 3. Transmission mechanism, 31. Electric push rod, 4. Steering device, 41. Angle adjustment motor, 42. Active angle adjustment pulley, 43. Driven angle adjustment pulley, 44. Steering gear set, 441. Worm, 442. Angle adjustment driving gear, 443. First angle adjustment driven gear, 444. Second angle adjustment driven gear, 45. Gap, 5. Floating mechanism, 51. First floating rod, 52. Second floating rod, 53. Elastic member, 6. Tension control device, 7. Pipeline, 8. Fiber filament. DETAILED DESCRIPTION

[0037] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0038] like Figures 1-9The specific embodiment of the fiber winding robot for a defective pipe in a complex environment of the present invention is shown, comprising a winding device 1 for winding fibers, at least two groups of supporting devices 2 for supporting the winding device 1 on the outside of the pipe 7 to be wound, and a transmission mechanism 3 installed on the supporting device 2 for driving the winding device 1 to move along the axis of the pipe 7, and a steering device 4 for adjusting the winding inclination angle of the winding device 1; both the supporting device 2 and the winding device 1 are provided with an opening for clamping the pipe 7 to be wound, and multiple groups of supporting devices 2 are arranged in sequence along the axis of the pipe 7 to be wound and are all located on one side of the winding device 1; the steering device 4 includes an angle adjustment motor 41 installed on one group of supporting devices 2 and an active angle adjustment pulley 42 fixedly installed on the supporting device 2, the output shaft of the angle adjustment motor 41 is arranged for transmission with the active angle adjustment pulley 42, and a driven angle adjustment pulley 43 is fixedly installed on the other group of supporting devices 2; the active angle adjustment pulley 42 and the driven angle adjustment pulley 43 are synchronously driven by a synchronous belt. It should be further explained that when the steering device 4 adjusts the angle of the support device 2, the support device 2 drives the winding device 1 to follow the angle adjustment through the transmission mechanism 3. In this embodiment, the winding device 1 drives the fiber filament 8 to an adjustable winding angle of 0°≤a<90° relative to the radial direction of the pipe 7.

[0039] The support device 2, transmission mechanism 3 and winding device 1 in the present invention form a parallelogram structure with adjustable angle and relative stability, wherein multiple support devices 2 enable the winding device 1 to wind the fiber on the pipe to be wound 7 in a circular winding, spiral winding or multi-layer staggered winding manner, so that the angle of the axis of the inclined pipe 7 when the fiber is wound on the pipe 7 is adjustable, thereby being suitable for the use of defective pipes 7 with various winding requirements, having a wide range of applications, and ensuring that the fiber can be wound on the pipe 7 evenly and fully covered, and being convenient and reliable to use.

[0040] In this embodiment, the steering device 4 also includes a gear set coaxially arranged with the output shaft of the angle adjustment motor 41; the gear set includes a worm 441 coaxially arranged with the output shaft of the angle adjustment motor 41, an angle adjustment driving gear 442 externally meshing with the worm 441, a first angle adjustment driven gear 443 coaxially arranged with the angle adjustment driving gear 442, and a second angle adjustment driven gear 444 externally meshing with the first angle adjustment driven gear 443; the second angle adjustment driven gear 444 is coaxially arranged with the axis of the active angle adjustment pulley 42.

[0041] In this embodiment, the steering device 4 also includes a steering gear set 44 coaxially arranged with the output shaft of the angle adjustment motor 41. The steering gear set 44 includes a worm 441 coaxially arranged with the output shaft of the angle adjustment motor 41, an angle adjustment driving gear 442 externally meshing with the worm 441, a first angle adjustment driven gear 443 coaxially arranged with the angle adjustment driving gear 442, and a second angle adjustment driven gear 444 externally meshing with the first angle adjustment driven gear 443. The second angle adjustment driven gear 444 is coaxially arranged with the active angle adjustment pulley 42. The output shaft of the angle adjustment motor 41 is parallel to the axis of the pipe 7 to be wound, and is converted by the steering gear set 44 to output power perpendicular to the axis of the pipe 7. This power transmission method saves vertical space occupied by the entire robot and is stable and reliable.

[0042] In this embodiment, the supporting device 2 is divided into two groups; Figures 1 to 5 As shown, the support device 2 includes an outer support frame 21, an inner support frame 22, and a plurality of tightening telescopic rods 23 circumferentially arranged on the inner support frame 22; the outer support frame 21 is fixedly mounted to the inner support frame 22; when the support device 2 is mounted on the outside of the fiber pipe 7 to be wound, the direction of extension and contraction of the tightening telescopic rods 23 is parallel to the radial direction of the pipe 7 to be wound. A gap 45 is provided between the inner support frame 22 and the outer support frame 21 for accommodating the tightening telescopic rods 23. The tightening telescopic rods 23 are cleverly arranged in the gap 45 between the inner support frame 22 and the outer support frame 21, which not only ensures the tightening direction of the tightening telescopic rods 23 on the pipe 7, but also avoids mutual interference between the tightening telescopic rods 23 and the inner support frame 22 or the outer support frame 21.

[0043] During use, the present invention avoids the defect of the jacket repair method in the prior art that the interface between the main pipe 7 and the branch pipe 7 cannot be repaired. The present invention can avoid the branch pipes of the main pipe 7 and realize the repair of multiple defective pipe sections. The support device 2 is fixed to the pipe 7 using multiple tightening telescopic rods 23 arranged in a circle. Each tightening telescopic rod 23 is controlled separately, which can realize the repair of special-shaped pipes.

[0044] The transmission mechanism 3 includes at least two sets of electric push rods 31 located on either side of the support device 2. The fixed ends of the electric push rods 31 are fixedly mounted to multiple support devices 2 in sequence, and the telescopic ends of the electric push rods 31 are fixedly connected to the winding device 1. The winding device 1 includes an outer winding frame 11, an inner winding frame 12 slidably connected to the inner side of the outer winding frame 11, a fiber mounting assembly 13 mounted on the side of the inner winding frame 12 near the pipe 7, and a winding drive assembly 14 for driving the inner winding frame 12 to rotate along the outer winding frame 11. Multiple drag reduction devices 15 are arranged in a circular array on the inner winding frame 12. The drag reduction devices 15 are rollers rotatably mounted on the inner winding frame 12 and in rolling connection with the outer winding frame 11. The drag reduction devices 15 are provided to reduce friction between the inner winding frame 12 and the outer winding frame 11.

[0045] like Figure 7 and Figure 8 As shown, the fiber installation assembly 13 includes at least one fiber installation frame 131 for installing a fiber roll and at least one guide frame 132 for guiding the fiber. The fiber pulling direction between the fiber installation frame 131 and the guide frame 132 is opposite to the direction of fiber winding around the pipe 7. A tension control device 6 is also mounted on one of the guide frames 132. The tension control device 6 includes a generator mounted on the guide frame 132 and arranged coaxially with the guide shaft, and a damper electrically connected to the generator.

[0046] The fiber pulling direction between the fiber mounting frame 131 and the guide frame 132 is opposite to the winding direction of the fiber on the pipe 7, ensuring that the fiber filament 8 has a certain tension when it is wound on the pipe 7. At the same time, a tension control device 6 is installed on the inner wall of the winding inner frame. The power source of the tension control device 6 is provided by the electricity generated by the generator driven by the movement of the fiber belt. There is no need for an external power supply on the winding inner frame 12, avoiding the problem of power cord entanglement or damage caused by the frequent rotation of the winding inner frame 12. In addition to increasing the damping of the winding of the fiber filament 8, the tension control device 6 also controls the winding tension of the fiber filament 8 according to the requirements of use. It can be applied to scenarios with different winding requirements of the fiber filament 8, further realizing the wide applicability of the robot.

[0047] The winding drive assembly 14 of the present invention includes a winding drive motor 141 mounted on the winding outer frame 11 and at least three transmission wheel groups 142 arranged circumferentially on the winding outer frame 11. The output shaft of the winding drive motor 141 rotates synchronously with the transmission wheel group 142 through a belt transmission assembly 143. Figure 9As shown, in this embodiment, there are three transmission wheel groups 142, and the transmission wheel groups 142 include a transmission wheel support 1421 rotatably mounted on the winding outer frame 11, a first gear 1422 rotatably mounted on the transmission wheel support, a second gear 1423 externally meshingly connected to the first gear 1422, and a friction wheel 1424 coaxially arranged with the second gear 1423; the friction wheel 1424 abuts against the winding inner frame 12, and the friction wheels 1424 of the three transmission wheel groups 142 drive the winding inner frame 12 to rotate along the inner wall of the winding outer frame 11.

[0048] The belt transmission assembly 143 includes a driving pulley 1431 installed on the winding outer frame 11 and coaxially arranged with the output shaft of the winding drive motor 141, a first driven pulley 1432 and a second driven pulley 1433 that are driven along the Y-axis direction via a synchronous belt with the driving pulley 1431, and a third driven pulley 1434 and a fourth driven pulley 1435 that are driven along the Z-axis direction; the driving pulley 1431 is respectively connected to the first driven pulley 1432 and the third driven pulley 1434, the first driven pulley 1432 and the second driven pulley 1433, and the second driven pulley 1433 and the fourth driven pulley 1435 through synchronous belt transmission.

[0049] The outer winding frame 11 is also equipped with a floating mechanism 5 for driving the drive wheel assembly 142 to float. The floating mechanism 5 includes a first floating rod 51 fixedly mounted on the outer winding frame 11, a second floating rod 52 fixedly mounted on the drive wheel assembly 142, and an elastic member installed between the first floating rod 51 and the second floating rod 52. The floating mechanism 5 ensures a certain elastic space between the inner winding frame 12 and the outer winding frame 11 during the rotation of the inner winding frame along the inner wall of the outer winding frame. It also incorporates multiple drag reduction devices 15 rotatably mounted on the inner winding frame 12 and in rolling connection with the outer winding frame 11, effectively preventing the inner winding frame 12 and the outer winding frame 11 from becoming stuck during use. This design is particularly important for ensuring smooth and non-stop repair work during the repair robot's operation. In this embodiment, the generator is a DC generator, and the damper is a magnetic damper.

[0050] The process of using the robot in this embodiment is as follows:

[0051] Step 1: hoist the robot to the predetermined location of the defective pipe section;

[0052] Step 2: Start the multiple telescopic rods 23 on the support device 2, control the extension and contraction of the telescopic rods 23, and install the robot on the pipe section to be repaired;

[0053] Step 3: Start the electric push rod 31 in the transmission mechanism 3 and control the extension and contraction of the electric push rod 31 so that the winding device 1 reaches the predetermined position;

[0054] Step 4: Activate the steering device 4 according to actual needs, adjust the fiber winding parameters, and start the winding process; the support device 2, the steering device 4, and the winding device 1 work together to achieve the winding of the fiber prepreg of a specific length of the pipe section to be repaired. The specific winding parameters include the winding angle, winding thickness, and winding width;

[0055] Step 5: Loosen the multiple tensioning telescopic rods 23 in the support device 2, remove the robot, and install a heating blanket on the fiber winding layer to heat and solidify it, thus completing the repair work of the defective pipe section.

[0056] It should be noted that the present invention has strong scalability. Based on the structure of the robot of the present invention and its easy-to-use and reliable characteristics, an infrared detection system, an ultrasonic detection device and a pipeline crawling system can be further integrated into this robot to realize multiple functions such as pipeline monitoring and repair. The specific applications will not be described one by one in this embodiment.

[0057] It should be understood that the specific embodiments described above are only used to explain the present invention and are not intended to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the scope of protection of the present invention.

Claims

1. A filament winding robot for defective pipes in complex environments, characterized by: The invention comprises a winding device (1) for winding fibers, at least two groups of supporting devices (2) for supporting the winding device (1) outside a pipe (7) to be wound, a transmission mechanism (3) mounted on the supporting device (2) for driving the winding device (1) to move along the axial direction of the pipe (7), and a steering device (4) for adjusting the winding inclination angle of the winding device (1); the supporting device (2) and the winding device (1) are both provided with openings for clamping the pipe (7) to be wound, and a plurality of groups of the supporting devices (2) are arranged in sequence along the axial direction of the pipe (7) to be wound and are all located on one side of the winding device (1); The steering device (4) comprises an angle adjustment motor (41) mounted on one set of the support devices (2) and an active angle adjustment pulley (42) fixedly mounted on the support device (2); an output shaft of the angle adjustment motor (41) is arranged to be driven by the active angle adjustment pulley (42); a driven angle adjustment pulley (43) is fixedly mounted on another set of the support devices (2); the active angle adjustment pulley (42) and the driven angle adjustment pulley (43) are synchronously driven via a synchronous belt; When the steering device (4) adjusts the angle of the support device (2), the support device (2) drives the winding device (1) to follow the angle adjustment through the transmission mechanism (3); the winding device (1) comprises a winding outer frame (11), a winding inner frame (12) slidably connected to the inner side of the winding outer frame (11), a fiber mounting assembly (13) mounted on the side of the winding inner frame (12) close to the pipe (7), and a winding drive assembly (14) for driving the winding inner frame (12) to rotate along the winding outer frame (11); the winding drive assembly (14) comprises a winding drive motor (141) mounted on the winding outer frame (11) and at least three groups of transmission wheel groups (142) circumferentially arranged on the winding outer frame (11), and the output shaft of the winding drive motor (141) rotates synchronously with the transmission wheel group (142) through a belt transmission assembly (143); A floating mechanism (5) for driving the transmission wheel group (142) to float is also installed on the winding outer frame (11), and the floating mechanism (5) includes a first floating rod (51) fixedly installed on the winding outer frame (11), a second floating rod (52) fixedly installed on the transmission wheel group (142), and an elastic member installed between the first floating rod (51) and the second floating rod (52).

2. The filament winding robot for defective pipes in complex environments according to claim 1, characterized in that: The support device (2) is composed of two groups; the support device (2) comprises a support outer frame (21), a support inner frame (22), and a plurality of tightening telescopic rods (23) circumferentially arranged on the support inner frame (22); the support outer frame (21) and the support inner frame (22) are fixedly installed; When the support device (2) is installed outside the fiber pipe (7) to be wound, the telescopic direction of the tightening telescopic rod (23) is parallel to the radial direction of the fiber-wound pipe (7).

3. The filament winding robot for defective pipes in complex environments according to claim 1, characterized in that: The transmission mechanism (3) comprises at least two groups of electric push rods (31) respectively located on both sides of the support device (2), the fixed ends of the electric push rods (31) are fixedly mounted on the plurality of support devices (2) in sequence, and the telescopic ends of the electric push rods (31) are fixedly connected to the winding device (1).

4. The filament winding robot for defective pipes in complex environments according to claim 1, characterized in that: The fiber installation assembly (13) includes at least one fiber installation frame (131) for installing the fiber roll and at least one guide frame (132) for guiding the fiber; The fiber pulling direction between the fiber mounting frame (131) and the guide frame (132) is opposite to the winding direction of the fiber on the pipe (7).

5. The filament winding robot for defective pipes in complex environments according to claim 1, characterized in that: The transmission wheel set (142) is composed of three sets, and the transmission wheel set (142) includes a transmission wheel support (1421) rotatably mounted on the winding outer frame (11), a first gear (1422) rotatably mounted on the transmission wheel support (1421), a second gear (1423) externally meshed with the first gear (1422), and a friction wheel (1424) coaxially arranged with the second gear (1423); The friction wheel (1424) abuts against the winding inner frame (12), and the friction wheels (1424) of the three groups of transmission wheel groups (142) drive the winding inner frame (12) to rotate along the inner wall of the winding outer frame (11).

6. The filament winding robot for defective pipes in complex environments according to claim 1, characterized in that: The belt drive group comprises a driving pulley (1431) mounted on the winding outer frame (11) and coaxially arranged with the output shaft of the winding drive motor (141), a first driven pulley (1432) and a second driven pulley (1433) driven along the Y-axis direction via a synchronous belt with the driving pulley (1431), and a third driven pulley (1434) and a fourth driven pulley (1435) driven along the Z-axis direction; The driving pulley (1431) is connected to the first driven pulley (1432) and the third driven pulley (1434), the first driven pulley (1432) and the second driven pulley (1433), and the second driven pulley (1433) and the fourth driven pulley (1435) respectively through a synchronous belt transmission.

7. The filament winding robot for defective pipes in complex environments according to claim 2, characterized in that: It also includes a tension control device (6) installed on the winding device, wherein the tension control device (6) includes a generator installed on the guide frame (132) and coaxially arranged with the guide shaft, and a damper electrically connected to the generator.

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