The invention discloses an automatic pipe bending device and a pipe bending process thereof, belonging to the technical field of mechanical processing and manufacturing. The technical scheme adopted by the invention is as follows: under the automatic control of an automatic control platform, a loading claw of a pipe loading machine firstly shifts a single pipe into a rotating fixture of a pinch device, the pinch device drives the pipe to move forward through a heater, the heater heats a bent part of the pipe to 1200-1350 DEG C, the bent part is moved to a bending mold, a follower plate and a movable jaw clamp the pipe, the movable jaw and the bending mold rotate to a bending angle around a rotating shaft, the follower plate and the movable jaw are reset after the pipe is released, the above process is repeated until the bending of the whole pipe is finished, and an unloading manipulator carries out unloading operation, thus finishing the bending process. The system can automatically finish pipe operations such as loading, feeding, heating, rotating, bending, unloading and the like, so that the pipe can be automatically bent and molded, the molding process is more accurate, and theyield is high; and the number of times for transporting the pipe in the processing process is reduced, and the productivity is improved.