The invention discloses a flexible supporting mandril, a supporting device and a pipe bending robot forming control method. The mandril comprises a core head and a core tail, wherein the core head is made of a rubber material, the size of the core head can be increased under the action of air pressure, and the core head comprises two layers from outside to inside, namely a loose porous rubber layer and an original rubber layer. The problem that the mandril cannot be added in the robot pipe bending forming process is solved through the structure of a traction servo motor, a traction wheel, a traction wire and the mandril, the core head of the mandril adopts the loose porous rubber layer, so that the core pulling of the mandril and the lubricating effect in the bending forming process are facilitated; and an air pressure controllable type inflatable mandril structure composed of an air pressure control system, an air inlet wire and the mandril is adopted, so that the internal supporting force of a bending section can be adjusted when a pipe is bent and formed, the defects of section distortion, instability, breakage and the like of the pipe in the robot pipe bending forming process can be effectively overcome, and the forming performance of the pipe is improved.