A continuous braiding-winding-pultrusion process was presented. By analyzing the geometrical structure of composite pipe around the pultrusion die, the yarn linear change relationships of braiding layers and winding layers before and after through pultrusion die were got. A kind of linear design which can let each fiber layer of the pipe under uniform stress was provided. The winding and braiding linear were respectively designed by taking the fiber line change relationship of winding layer and braiding layer before and after geting into pultrusion die and the pipe design requirement into consideration. The multi-standard composite pipes based on the designed linear were produced. Through comparative analysis of yarn theory angle with the actual measurement data, the braiding angle error is less than the winding angle error of the same size pipe is found. Error angles can be controlled under 1.5°,the angle error rate is less than 3% and the error decreases with increasing pipe thickness. The more larger pipe size, the theory value of the braiding angle and the winding angle will the more close to the actual angle. The analysis of pipe ultrasound scan of the specimens shows that the pipe has no obvious defects and no obvious crack between the different yarns. It proves that design of yarn linear is reasonable.%提出一种连续编织–缠绕–拉挤工艺，通过分析拉挤前后复合材料管道的几何结构，得出编织层纱束与缠绕层纱束在经过拉挤成型模具前后线型的变化关系，给出满足制品各层纤维均匀受力的编织–缠绕–拉挤工艺的线型设计要求；考虑缠绕层、编织层进入拉挤成型模具前后的线型变化关系和管道的设计要求，分别设计缠绕线型和编织线型；按设计的线型试制多种规格的复合材料管道，通过对比分析理论纱束角度与实际测量值，发现同一直径的管道，编织角的误差小于缠绕角的误差，两者均控制在1.5º以内，角度误差率均小于3%，且误差均随管道厚度的增大而减小，管道直径越大，编织角与缠绕角越接近实际值。通过分析管道试件的超声波扫描图，管道无明显缺陷，纱束间无明显细缝，证明设计的纱束线型变化合理。
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