CN116379250A

CN116379250A - Fiber winding robot containing defective pipeline in complex environment

Info

Publication number: CN116379250A
Application number: CN202310286848.4A
Authority: CN
Inventors: 顾付伟; 张国峰; 姚灵灵; 胡露露; 曹忠亮; 代巧; 胡世祯
Original assignee: Jiangsu University of Technology
Current assignee: Jiangsu University of Technology
Priority date: 2023-03-22
Filing date: 2023-03-22
Publication date: 2023-07-04

Abstract

The invention belongs to the technical field of pipeline repair equipment, and particularly relates to a fiber winding robot for a defective pipeline in a complex environment. The invention comprises a winding device for winding fiber, at least two groups of supporting devices for supporting the winding device on the outer side of a pipeline to be wound, a transmission mechanism arranged on the supporting devices and used for driving the winding device to move along the axial direction of the pipeline, and a steering device for adjusting the winding inclination angle of the winding device; the supporting device and the winding device are provided with openings for clamping the pipeline to be wound, and the multiple groups of supporting devices are sequentially arranged along the axis direction of the pipeline to be wound and are 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 the fiber winding on the pipeline, which is inclined to the axis of the pipeline, is adjustable, and the winding device is suitable for the use of defect-containing pipeline reinforcement requirements of various winding process requirements and has a wide application range.

Description

Fiber winding robot containing defective pipeline in complex environment

Technical Field

The invention belongs to the technical field of pipeline repair equipment, and particularly relates to a fiber winding robot for a defective pipeline in a complex environment.

Background

The active oil and gas pipeline frequently generates leakage and explosion accidents due to local corrosion, crack expansion and other reasons, so that serious influence is brought to economic development and ecological environment, the domestic active oil and gas pipeline has a service time of 60% for more than 20 years, and the pipelines are corroded by media and external environment for a long time, so that the wall thickness of the pipeline is reduced, and the strength is weakened. And leakage and explosion accidents of the pipeline frequently occur along with the initiation and expansion phenomena of the pipeline cracks. In the prior art, the repair modes of the pipeline are generally pipe section replacement welding, jacket repair, composite material repair technology and the like, wherein the repair modes of the pipe section replacement welding have the defects of severe repair environment, high repair cost and pipeline shutdown and production shutdown; the jacket repair has the defect that the repair work of the elbow or the special pipe cannot be satisfied.

For composite material restoration, pipeline fiber winding restoration has characteristics such as fire-free, parking-free and cost of maintenance low, also can avoid the shortcoming of two kinds of restoration modes, but at present mainly realize through the workman winding reinforcing fiber cloth on treating the repair pipeline, the problem such as uneven, the uneven stack of fiber reinforced belt of tensile control appears easily in the manual winding mode of fiber reinforced material, and traditional fiber restoration still receives the influence of pipeline place environment, if meet the complex environment such as having narrow and small space around the pipeline, large diameter pipeline, vertical reaction vessel, vertical tower and high temperature pipeline, the winding work of fiber will not be realized to the artifical fiber winding restoration mode.

Disclosure of Invention

The invention aims to overcome the defect that winding fiber and fiber yarn winding is not uniform manually in the composite material repairing process in the prior art, and provides a fiber winding robot which automatically winds fiber and can realize a defective pipeline under a complex environment with multiple winding angles.

The technical scheme adopted for solving the technical problems is as follows: the fiber winding robot comprises a winding device for winding fibers, at least two groups of supporting devices for supporting the winding device on the outer side of a pipeline to be wound, a transmission mechanism arranged on the supporting devices and used for driving the winding device to move along the axis direction of the pipeline, and a steering device for adjusting the winding inclination angle of the winding device; the supporting devices and the winding devices are provided with openings for clamping the pipeline to be wound, and a plurality of groups of supporting devices are sequentially arranged along the axis direction of the pipeline to be wound and are positioned on one side of the winding device;

the steering device comprises an angle adjusting motor arranged on one group of supporting devices and a driving angle adjusting belt wheel fixedly arranged on the supporting devices, wherein an output shaft of the angle adjusting motor is in transmission arrangement with the driving angle adjusting belt wheel, and a driven angle adjusting belt wheel is fixedly arranged on the other group of supporting devices; the driving angle adjusting belt pulley and the driven angle adjusting belt pulley are synchronously driven through a synchronous belt;

when the steering device carries out angle adjustment on the supporting device, the supporting device drives the winding device to carry out following angle adjustment through the transmission mechanism.

Further, the supporting devices are divided into two groups; the supporting device comprises a supporting outer frame, a supporting inner frame and a plurality of jacking telescopic rods circumferentially arranged on the supporting inner frame; the outer support frame and the inner support frame are fixedly arranged;

when the supporting device is arranged on the outer side of the fiber pipeline to be wound, the stretching direction of the jacking telescopic rod is parallel to the radial direction of the pipeline with the winding.

Further, the transmission mechanism comprises at least two groups of electric push rods which are respectively positioned on two sides of the supporting device, the fixed ends of the electric push rods are fixedly installed with a plurality of the supporting devices in sequence, and the telescopic ends of the electric push rods are fixedly connected with the winding device.

Further, the winding device comprises a winding outer frame, a winding inner frame connected with the inner side of the winding outer frame in a sliding manner, a fiber installation assembly arranged on one side, close to the pipeline, of the winding inner frame, and a winding driving assembly used for driving the winding inner frame to rotate along the winding outer frame.

Further, the fiber mounting assembly includes at least one fiber mounting bracket for mounting the fiber roll and at least one guide bracket for guiding the fiber;

the fiber pulling direction between the fiber mounting frame and the guide frame is opposite to the winding direction of the fiber wound on the pipeline.

Further, the winding driving assembly comprises a winding driving motor arranged on the winding outer frame and at least three groups of transmission wheel groups circumferentially arranged on the winding outer frame, and an output shaft of the winding driving motor and the transmission wheel groups synchronously rotate through the belt transmission assembly.

Further, the transmission wheel sets comprise three groups, wherein each transmission wheel set comprises a transmission wheel support rotatably arranged on the winding outer frame, a first gear rotatably arranged on the transmission wheel support, a second gear in external meshed connection with the first gear and a friction wheel coaxially arranged with the second gear;

the friction wheels are in butt joint 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.

Further, the belt transmission group comprises a driving belt pulley, a first driven belt pulley, a second driven belt pulley, a third driven belt pulley and a fourth driven belt pulley, wherein the driving belt pulley is arranged on the winding outer frame and is coaxially arranged with the output shaft of the winding motor, the first driven belt pulley and the second driven belt pulley are transmitted along the Y-axis direction through a synchronous belt, and the third driven belt pulley and the fourth driven belt pulley are arranged along the Z-axis direction;

the driving belt wheel is respectively connected with the first driven belt wheel and the third driven belt wheel, the first driven belt wheel and the second driven belt wheel, and the second driven belt wheel and the fourth driven belt wheel through synchronous belt transmission.

Further, a floating mechanism for driving the transmission wheel set to float is further installed on the winding outer frame, and the floating mechanism comprises a first floating rod fixedly installed on the winding outer frame, a second floating rod fixedly installed on the transmission wheel set and an elastic piece installed between the first floating rod and the second floating rod.

Still further, still include the tension control device who installs on winding device, tension control device includes the generator that installs in the leading truck and the coaxial setting of direction pivot and the attenuator that is connected with the electricity.

The fiber winding robot containing the defective pipeline in the complex environment has the beneficial effects that:

1. the invention adopts a plurality of supporting devices positioned at one side of the winding device to support the winding device and position the winding device and the pipeline to be wound, can accurately and conveniently realize the positioning of the winding device and the pipeline, is provided with the steering device on the supporting device for driving the angle of the branch winding device relative to the axis of the pipeline to be wound, and forms a parallelogram structure with adjustable and relatively stable angle, namely, the winding device can carry out annular winding, spiral winding or multi-layer staggered winding when winding the fiber on the pipeline to be wound, so that the angle of the inclined pipeline axis of the fiber on the pipeline can be adjusted, thereby being suitable for the use of the defect-containing pipeline reinforcement requirement of various winding process requirements, having wide application range, and ensuring that the fiber or fiber strip can be uniformly and fully covered on the pipeline, and being convenient and reliable to use.

2. The invention avoids the defect that the joint of the main pipeline and the branch pipeline cannot be repaired in the jacket repairing mode in the prior art in the use process, can avoid the branch pipeline of the main pipeline, realizes the repair of a plurality of pipe sections containing defects, adopts a plurality of propping telescopic rods which are circumferentially arranged to fix the pipe, and can realize the repair of the special pipe by independently controlling each telescopic rod.

3. At least one fiber mounting frame for mounting the fiber rolls and at least one guide frame for guiding the fibers are arranged in the invention, and the fiber pulling direction between the fiber mounting frame and the guide frame is opposite to the winding direction of the fibers on the pipeline. The fiber yarn is guaranteed to have certain tension when being wound on a pipeline, meanwhile, the tension control device is installed on the inner wall of the winding inner frame, the power source of the tension control device adopts the movement of the fiber belt to drive the generator to generate electric energy for providing, an external power supply is not needed on the winding inner frame, and the problem that the winding inner frame is wound or damaged by a power line caused by frequent rotation is avoided. The tension control device has a function of increasing the damping of filament winding and also a function of controlling the winding tension of the filament according to the use requirement.

4. The invention has stronger expansibility, and can further integrate an infrared detection system, an ultrasonic detection device and a pipeline crawling system in the robot to realize multiple functions of pipeline monitoring, repairing and the like.

Drawings

The invention will be described in further detail with reference to the drawings and the detailed description.

Fig. 1 is a perspective view of a robot according to an embodiment of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a schematic view of the installation of a robot with a pipe in accordance with an embodiment of the present invention;

FIG. 4 is a schematic view of a first view of the support device and steering device of an embodiment of the present invention;

FIG. 5 is a second perspective view of a support device and steering device according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a steering gear set in a steering apparatus according to an embodiment of the present invention;

fig. 7 is a first perspective view of a winding apparatus according to an embodiment of the present invention;

FIG. 8 is a rear view of FIG. 7;

fig. 9 is a second perspective view of the winding apparatus according to the embodiment of the present invention.

In the figure, 1, a winding device, 11, a winding outer frame, 12, a winding inner frame, 13, a fiber mounting component, 131, a fiber mounting frame, 132, a guide frame, 14, a winding driving component, 141, a winding driving motor, 142, a transmission wheel set, 1421, a transmission wheel support, 1422, a first gear, 1423, a second gear, 1424, a friction wheel, 143, a belt transmission component, 1431, a driving pulley, 1432, a first driven pulley, 1433, a second driven pulley, 1434, a third driven pulley, 1435, a fourth driven pulley, 15, a damping device, 2, a supporting device, 21, a supporting outer frame, 22, a supporting inner frame, 23, a tightening telescopic rod, 3, a transmission mechanism, 31, an electric push rod, 4, a steering device, 41, an angle adjusting motor, 42, a driving angle adjusting pulley, 43, a driven angle adjusting pulley, 44, a steering gear set, 441, a worm, 442, an angle adjusting driven gear, 443, a first angle adjusting driven gear, 444, a second angle adjusting driven gear, 45, a clearance, 5, a floating mechanism, 51, a first angle adjusting driven gear, 52, a floating mechanism, a first lever, a second lever, a 6, a tension member, and a tension member are shown.

Detailed Description

The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.

The specific embodiment of the fiber winding robot for the defective pipeline in the complex environment comprises a winding device 1 for winding fiber, at least two groups of supporting devices 2 for supporting the winding device 1 on the outer side of a pipeline 7 to be wound, a transmission mechanism 3 arranged on the supporting devices 2 and used for driving the winding device 1 to move along the axial direction of the pipeline 7, and a steering device 4 used for adjusting the winding inclination angle of the winding device 1, wherein the specific embodiment of the fiber winding robot for the defective pipeline in the complex environment is shown in figures 1-9; the supporting devices 2 and the winding devices 1 are provided with openings for clamping the pipeline 7 to be wound, and the plurality of groups of supporting devices 2 are sequentially arranged along the axial direction of the pipeline 7 to be wound and are positioned on one side of the winding device 1; the steering device 4 comprises an angle adjusting motor 41 arranged on one group of supporting devices 2 and a driving angle adjusting belt wheel 42 fixedly arranged on the supporting devices 2, wherein an output shaft of the angle adjusting motor 41 is in transmission arrangement with the driving angle adjusting belt wheel 42, and a driven angle adjusting belt wheel 43 is fixedly arranged on the other group of supporting devices 2; the driving angle adjustment pulley 42 and the driven angle adjustment pulley 43 are synchronously driven by a timing belt. It should be further noted that, when the steering device 4 performs the angle adjustment on the supporting device 2, the supporting device 2 drives the winding device 1 to perform the following angle adjustment through the transmission mechanism 3. In the embodiment, the winding device 1 drives the fiber yarn 8 to have an adjustable winding angle of 0 DEG or more and less than 90 DEG relative to the radial direction of the pipeline 7.

The supporting device 2, the transmission mechanism 3 and the winding device 1 form a parallelogram structure with adjustable and relatively stable angles, wherein the winding device 1 can perform annular winding, spiral winding or multi-layer staggered winding when winding the fiber on the pipeline 7 to be wound in the supporting devices 2, so that the angle of the axis of the inclined pipeline 7 on which the fiber is wound is adjustable, the winding device is suitable for the use of the pipeline 7 with defects and required by various windings, the application range is wide, and the fiber can be uniformly and fully covered on the pipeline 7, and is convenient and reliable to use.

The steering device 4 of the present embodiment further includes a gear set coaxially provided with the output shaft of the angle adjustment motor 41; the gear set comprises a worm 441 coaxially arranged with the output shaft of the angle adjusting motor 41, an angle adjusting driving gear 442 in external meshed transmission with the worm 441, a first angle adjusting driven gear 443 coaxially arranged with the angle adjusting driving gear 442, and a second angle adjusting driven gear 444 in external meshed connection with the first angle adjusting driven gear 443; the second angle adjustment driven gear 444 is coaxially disposed with the driving angle adjustment pulley 42.

The steering device 4 of the present embodiment further includes a steering gear set 44 coaxially provided with the output shaft of the angle adjustment motor 41; the steering gear set 44 includes a worm 441 coaxially disposed with an output shaft of the angle adjustment motor 41, an angle adjustment driving gear 442 in external engagement with the worm 441, a first angle adjustment driven gear 443 coaxially disposed with the angle adjustment driving gear 442, and a second angle adjustment driven gear 444 in external engagement with the first angle adjustment driven gear 443; the second angle adjustment driven gear 444 is coaxially disposed with the driving angle adjustment pulley 42. The output shaft of the angle adjusting motor 41 is parallel to the axial direction along the pipe 7 to be wound, and is commutated to output power perpendicular to the axial direction of the pipe 7 by a steering gear set 44. The power transmission mode saves the occupied space of the whole robot in the vertical direction, and is stable and reliable.

In this embodiment, the supporting devices 2 are two groups; as shown in fig. 1 to 5, the supporting device 2 includes a supporting outer frame 21, a supporting inner frame 22, and a plurality of tightening telescopic rods 23 circumferentially arranged on the supporting inner frame 22; the support outer frame 21 and the support inner frame 22 are fixedly arranged; when the support device 2 is mounted outside the fibre channel 7 to be wound, the telescoping direction of the tightening telescoping rod 23 is parallel to the radial direction of the channel 7 to be wound. A gap 45 for accommodating the tight pushing telescopic rod 23 is arranged between the inner support frame 22 and the outer support frame 21, and the tight pushing telescopic rod 23 is skillfully arranged in the gap 45 between the inner support frame 22 and the outer support frame 21, so that the tight pushing direction of the tight pushing telescopic rod 23 to the pipeline 7 is ensured, and the mutual interference between the tight pushing telescopic rod 23 and the inner support frame 22 or the outer support frame 21 is avoided.

The invention avoids the defect that the joint of the main pipeline 7 and the branch pipeline 7 cannot be repaired by the jacket repairing mode in the prior art in the use process, can avoid the branch pipeline of the main pipeline 7, realizes the repair of a plurality of pipe sections containing defects, and the supporting device 2 is fixed with the pipeline 7 by adopting a plurality of jacking telescopic rods 23 which are circumferentially arranged, each jacking telescopic rod 23 is independently controlled, so that the repair of the special pipe can be realized.

The transmission mechanism 3 comprises at least two groups of electric push rods 31 which are respectively positioned on two sides of the supporting device 2, the fixed ends of the electric push rods 31 are fixedly installed with the supporting devices 2 in sequence, and the telescopic ends of the electric push rods 31 are fixedly connected with the winding device 1. The winding device 1 comprises a winding outer frame 11, a winding inner frame 12 which is in sliding connection with the inner side of the winding outer frame 11, a fiber installation group 13 arranged on one side of the winding inner frame 12 close to the pipeline 7, and a winding driving component 14 for driving the winding inner frame 12 to rotate along the winding outer frame 11. A plurality of damping devices 15 are circumferentially arrayed on the winding inner frame 12, and the damping devices 15 are rollers rotatably arranged on the winding inner frame 12 and are in rolling connection with the winding outer frame 11. The drag reducing device 15 is provided for reducing friction between the winding inner frame 12 and the winding outer frame 11.

As shown in fig. 7 and 8, the fiber mounting assembly 13 includes at least one fiber mounting bracket 131 for mounting the fiber rolls and at least one guide bracket 132 for guiding the fibers; the fiber pulling direction between the fiber mounting frame 131 and the guide frame 132 is opposite to the winding direction in which the fiber is wound around the pipe 7. Meanwhile, a tension control device 6 is arranged on one of the guide frames 132, and the tension control device 6 comprises a generator and a damper, wherein the generator and the damper are arranged on the guide frames 132 and coaxially arranged with the guide rotating shaft, and the damper is electrically connected with the generator.

The fiber pulling direction between the fiber mounting frame 131 and the guide frame 132 is opposite to the winding direction of the fiber wound on the pipeline 7, so that the fiber 8 is guaranteed to have certain tension when being wound on the pipeline 7, meanwhile, the tension control device 6 is installed on the inner wall of the winding inner frame, the power source of the tension control device 6 adopts the movement of the fiber belt to drive the generator to generate electric energy for providing, the external power supply on the winding inner frame 12 is not needed, and the problem that the winding inner frame 12 is wound or damaged by a power line caused by frequent rotation is avoided. The tension control device 6 has the function of increasing the damping of the winding of the fiber yarns 8, and also has the function of controlling the winding tension of the fiber yarns 8 according to the use requirement, so that the robot can be suitable for scenes with different winding requirements of the fiber yarns 8, and further the wide applicability of the robot is realized.

The winding driving assembly 14 in the present invention includes a winding driving motor 141 installed on the winding outer frame 11 and at least three sets of driving wheel sets 142 circumferentially arranged on the winding outer frame 11, and an output shaft of the winding driving motor 141 rotates in synchronization with the driving wheel sets 142 through a belt driving assembly 143. As shown in fig. 9, in this embodiment, the transmission wheel set 142 is 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, a second gear 1423 in external meshed connection with the first gear 1422, and a friction wheel 1424 coaxially disposed with the second gear 1423; the friction wheel 1424 is abutted with 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.

The belt transmission assembly 143 includes a driving pulley 1431 mounted on the winding outer frame 11 and coaxially disposed with an output shaft of the winding driving motor 141, first and second driven

pulleys

1432 and 1433 driven in the Y-axis direction by a synchronous belt with the driving pulley 1431, and third and fourth driven

pulleys

1434 and 1435 driven in the Z-axis direction; the driving pulley 1431 is in driving connection with 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 belts respectively.

The winding outer frame 11 is also provided with a floating mechanism 5 for driving the transmission wheel set 142 to float, and the floating mechanism 5 comprises a first floating rod 51 fixedly arranged on the winding outer frame 11, a second floating rod 52 fixedly arranged on the transmission wheel set 142 and an elastic piece arranged between the first floating rod 51 and the second floating rod 52. The setting of floating mechanism 5 realizes that the winding inner frame is in the rotation in-process along winding outer frame inner wall, guarantees to have certain elasticity space between winding inner frame 12 and the winding outer frame 11, has still combined simultaneously and has rotated a plurality of damping devices 15 of installing on winding inner frame 12 and rolling connection with winding outer frame 11, and effectual preventing winding inner frame 12 and winding outer frame 11 appear the dead phenomenon of card in the use, and this is a design that is particularly important to carrying out the repair work at repair robot's repair process steadily, not shut down. In this embodiment, the generator is a dc generator, and the damper is a magnetic damper.

The robot of this embodiment uses the following procedure:

hoisting a robot to a preset position of a pipe section containing a defect;

step two, starting a plurality of tightening telescopic rods 23 on the supporting device 2, controlling the telescopic quantity of the tightening telescopic rods 23, and installing the robot on the pipe section to be repaired;

step three, starting an electric push rod 31 in the transmission mechanism 3, and controlling the expansion and contraction amount of the electric push rod 31 to enable the winding device 1 to reach a preset position;

step four, starting the steering device 4 according to actual needs, adjusting winding parameters of the fibers, and starting a winding program; the supporting device 2, the steering device 4 and the winding device 1 work together to realize the winding of the fiber prepreg with the specific length of the pipe section to be repaired, and specific winding parameters comprise a winding angle, a winding thickness and a winding width;

and fifthly, loosening a plurality of jacking telescopic rods 23 in the supporting device 2, removing the robot, installing a heating blanket at the fiber winding layer, and heating to realize solidification. Thereby completing the repair work of the pipe section containing the defects.

The invention has strong expansibility, based on the characteristics of the structure and the convenient and reliable use of the robot, the infrared detection system, the ultrasonic detection device and the pipeline crawling system can be further integrated in the robot, so that the functions of pipeline monitoring, repairing and the like are realized, and specific application is not described one by one in the embodiment.

It should be understood that the above-described specific embodiments are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications which extend from the spirit of the present invention are within the scope of the present invention.

Claims

1. A fiber winding robot containing a defective pipeline in a complex environment is characterized in that: comprises a winding device (1) for winding fiber, at least two groups of supporting devices (2) for supporting the winding device (1) on the outer side of a pipeline (7) to be wound, a transmission mechanism (3) which is arranged on the supporting devices (2) and is used for driving the winding device (1) to move along the axial direction of the pipeline (7), and a steering device (4) for adjusting the winding inclination angle of the winding device (1); the supporting devices (2) and the winding devices (1) are provided with openings for clamping a pipeline (7) to be wound, and a plurality of groups of the supporting devices (2) are sequentially arranged along the axial direction of the pipeline (7) to be wound and are positioned on one side of the winding devices (1);

the steering device (4) comprises an angle adjusting motor (41) arranged on one group of supporting devices (2) and a driving angle adjusting belt wheel (42) fixedly arranged on the supporting devices (2), wherein an output shaft of the angle adjusting motor (41) is in transmission arrangement with the driving angle adjusting belt wheel (42), and a driven angle adjusting belt wheel (43) is fixedly arranged on the other group of supporting devices (2); the driving angle adjusting belt wheel (42) and the driven angle adjusting belt wheel (43) are synchronously driven through a synchronous belt;

when the steering device (4) carries out angle adjustment on the supporting device (2), the supporting device (2) drives the winding device (1) to carry out following angle adjustment through the transmission mechanism (3).

2. The filament winding robot for a defective pipe in a complex environment according to claim 1, wherein: the supporting devices (2) are two groups; the supporting device (2) comprises a supporting outer frame (21), a supporting inner frame (22) and a plurality of jacking telescopic rods (23) circumferentially arranged on the supporting inner frame (22); the support outer frame (21) and the support inner frame (22) are fixedly arranged;

when the supporting device (2) is arranged outside the fiber pipeline (7) to be wound, the stretching direction of the jacking stretching rod (23) is parallel to the radial direction of the pipeline (7) with the winding.

3. The filament winding robot for a defective pipe in a complex environment according to claim 1, wherein: the transmission mechanism (3) comprises at least two groups of electric push rods (31) which are respectively positioned on two sides of the supporting device (2), the fixed ends of the electric push rods (31) are fixedly installed with a plurality of the supporting devices (2) in sequence, and the telescopic ends of the electric push rods (31) are fixedly connected with the winding device (1).

4. The filament winding robot for a defective pipe in a complex environment according to claim 1, wherein: the winding device (1) comprises a winding outer frame (11), a winding inner frame (12) which is connected with the inner side of the winding outer frame (11) in a sliding mode, a fiber installation group (13) piece which is installed on one side, close to the pipeline (7), of the winding inner frame (12), and a winding driving assembly (14) which is used for driving the winding inner frame (12) to rotate along the winding outer frame (11).

5. The filament winding robot for a defective pipe in a complex environment according to claim 4, wherein: the fibre mounting group (13) comprises at least one fibre mounting frame (131) for mounting the fibre rolls and at least one guide frame (132) for guiding the fibres;

the fiber pulling direction between the fiber mounting frame (131) and the guide frame (132) is opposite to the winding direction of the fiber wound on the pipeline (7).

6. The filament winding robot for a defective pipe in a complex environment according to claim 4, wherein: the winding driving assembly (14) comprises a winding driving motor (141) arranged on the winding outer frame (11) and at least three groups of transmission wheel groups (142) circumferentially distributed on the winding outer frame (11), and an output shaft of the winding driving motor (141) rotates synchronously with the transmission wheel groups (142) through a belt transmission assembly (143).

7. The filament winding robot for a defective pipe in a complex environment according to claim 6, wherein: the transmission wheel sets (142) are three groups, and the transmission wheel sets (142) comprise 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) in external meshed connection with the first gear (1422) and a friction wheel (1424) coaxially arranged with the second gear (1423);

the friction wheels (1424) are abutted with the winding inner frame (12), and the three groups of friction wheels (1424) of the transmission wheel sets (142) drive the winding inner frame (12) to rotate along the inner wall of the winding outer frame (11).

8. The filament winding robot for a defective pipe in a complex environment according to claim 6, wherein: the belt transmission group comprises a driving pulley (1431) which is arranged on the winding outer frame (11) and is coaxial with the output shaft of the winding motor, a first driven pulley (1432) and a second driven pulley (1433) which are driven by the driving pulley (1431) along the Y-axis direction through a synchronous belt, and a third driven pulley (1434) and a fourth driven pulley (1435) which are arranged along the Z-axis direction in a transmission way;

the driving belt wheel (1431) is respectively connected with the first driven belt wheel (1432) and the third driven belt wheel (1434), the first driven belt wheel (1432) and the second driven belt wheel (1433) and the fourth driven belt wheel (1435) through synchronous belt transmission.

9. The filament winding robot for a defective pipe in a complex environment according to claim 6, wherein: the winding outer frame (11) is also provided with a floating mechanism (5) for driving the transmission wheel set (142) to float, and the floating mechanism (5) comprises a first floating rod (51) fixedly arranged on the winding outer frame (11), a second floating rod (52) fixedly arranged on the transmission wheel set (142) and an elastic piece arranged between the first floating rod (51) and the second floating rod (52).

10. A filament winding robot for a defective pipe in a complex environment according to claim 2, wherein: the device also comprises a tension control device (6) arranged on the winding device, wherein the tension control device (6) comprises a generator and a damper, the generator is arranged on the guide frame (132) and coaxially arranged with the guide rotating shaft, and the damper is electrically connected with the guide rotating shaft.