Pipe bending equipment and method of use thereof

Abstract

The present invention discloses a pipe bending device and a method for using the same, comprising a base, a pipe placing rack disposed on the base; the outer edge of the pipe placing rack is arc-shaped, and a bayonet is formed on the outer edge; the two ends of the support surface of the bayonet are located inside the two ends of the pipe placing rack, with a gap formed therebetween; a first bending mechanism is provided at both ends of the bayonet, the first bending mechanism comprising a bending block and a limiting block; the limiting block partially protrudes from the bending block and is located in the gap; the base is further provided with a limiting mechanism comprising a driving assembly and a limiting plate; the limiting plate is located outside the pipe placing rack, and the driving assembly drives it to move along the Y-axis direction of the base until the limiting plate abuts the outer edge of the bayonet. The advantages of the present invention are as follows: the bayonet defines the placement position of the pipe, and the limiting block abuts the outer edge of the bayonet to fix the pipe; the limiting block cooperates with the bending block to ensure that the central region of the pipe will not bend and deform during the bending process, thereby improving the yield rate of the pipe.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical manufacturing, and in particular relates to a pipe bending device and a use method thereof. Background Art

[0002] Tubes are widely used in the automotive industry, such as front / rear anti-collision beams, seat frames, instrument panel beams, body structural parts, front / rear subframes, etc. Existing processes or equipment can only complete the bending operation on the two-dimensional plane of the tube. If the tube needs to be bent like this Figure 1 Bending within the three-dimensional space shown requires multiple steps to be performed on the tube, individually bending each part of the tube, combined with a combination of press-bending and forming processes (such as bending and shaping operations). However, due to the repeated positioning and stretching of the tube, high positioning accuracy is required, and the stability of the finished tube cannot be guaranteed.

[0003] In addition, when the end of the pipe needs to be bent, the middle area of ​​the pipe is extremely susceptible to deformation due to stress or produces an arc in the same direction as the bending direction, thereby causing the processing to not meet the requirements.

[0004] Therefore, designing a pipe bending device and a method for using the same are important technical issues that those skilled in the art need to solve. Summary of the Invention

[0005] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a pipe bending device and a method for using the same.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] The pipe bending equipment includes a base, on which a pipe placement rack is provided; the outer edge of the pipe placement rack is arc-shaped, and a bayonet for clamping the pipe is formed on its outer edge; the two ends of the supporting surface of the bayonet are located on the inner sides of the two ends of the pipe placement rack, and a gap is formed between the two; a first bending mechanism is provided at both ends of the bayonet, and the first bending mechanism includes a bending block and a limit block for bending the pipe; the limit block partially protrudes from the bending surface of the bending block and is located at the gap; a limiting mechanism is also provided on the base, and the limiting mechanism includes a driving assembly and a limiting plate; the limiting plate is located on the outside of the pipe placement rack, and is driven by the driving assembly to move along the Y-axis direction of the base until the limiting plate abuts against the outer edge of the bayonet.

[0008] Preferably, the first bending mechanism is symmetrically arranged on both sides of the limiting mechanism; it also includes a driving cylinder that drives the bending block to move back and forth along the Y-axis direction of the base.

[0009] Preferably, the bending surface of the bending block is arc-shaped, and the highest point of the bending surface is located outside the end of the pipe placement rack; the height of the bending block is not less than the height of the pipe placement rack.

[0010] Preferably, the limiting mechanism is located between the pipe placement rack and the base plate; the driving component is a cylinder, and when its cylinder shaft extends, it drives the limiting plate to move toward the outer edge of the base; the cylinder shaft of the driving component contracts, driving the limiting plate to move toward the pipe placement rack.

[0011] Preferably, at least two support columns are fixed between the base and the pipe placement rack, the driving assembly is located between the two support columns, and the height of the support columns is not less than the height of the driving assembly.

[0012] Preferably, a fixed seat is also provided on the base, and the fixed seat is located on the rear side of the pipe placement rack and is clamped with the pipe placement rack; a mounting frame for placing the second bending mechanism is fixed on the fixed seat; the second bending mechanism includes a Y-axis moving mechanism arranged on the mounting frame, and a Z-axis moving mechanism arranged on the Y-axis moving mechanism; a clamping mechanism is provided on the Z-axis moving mechanism; the clamping mechanism is driven by the Z-axis moving mechanism to move toward the pipe placement rack until the clamping mechanism moves to the outside of the bending block and clamps the pipe.

[0013] Preferably, a clamping jaw mounting frame is also provided on the Z-axis moving mechanism, and the clamping mechanism is arranged on both sides of the clamping jaw mounting frame; the distance from the clamping mechanism to the main body of the clamping jaw mounting frame is equivalent to the distance from the bayonet to the upper surface of the Y-axis moving mechanism; the outer side of the bending block is a plane, and has an arc transition with the bending surface; the Y-axis moving mechanism drives the clamping mechanism to move toward the opening direction of the bayonet until the clamping mechanism abuts against the plane on the outer side of the bending block.

[0014] Preferably, the Y-axis moving mechanism is a linear moving component; a second fixed seat is provided above the Y-axis moving mechanism, and the Z-axis moving mechanism is fixed on the second fixed seat; the Y-axis moving mechanism drives the second fixed seat to move relative to the mounting frame along the Y-axis direction of the base.

[0015] The method for using the pipe bending equipment includes the pipe bending equipment and the following operating steps:

[0016] S1, start the limiting mechanism and drive the limiting plate to move along the Y-axis direction of the base until the limiting plate abuts against the outer edge of the pipe placement rack and restricts the pipe in the bayonet;

[0017] S2, starting the first bending mechanism, driving the bending block and the limiting block to move toward the bayonet until the limiting block abuts against the bottom surface of the bayonet; and the bending block bends the pipe so that the pipe is completely fitted with the bayonet;

[0018] S3, resetting the first bending mechanism and the limiting mechanism to their initial positions in sequence.

[0019] Preferably, the method further comprises the following steps:

[0020] S1, start the Z-axis moving mechanism to drive the clamping claw mounting frame and the clamping mechanism to move toward the base until the clamping mechanism is located at both ends of the pipe placement frame;

[0021] S2, start the clamping mechanism and clamp the pipe placed on the pipe placement rack;

[0022] S3, starting the Y-axis moving mechanism to drive the clamping mechanism and the tube to move toward the bending block until the clamping mechanism abuts against the outer surface of the bending block;

[0023] S4, sequentially resetting the clamping mechanism, the Z-axis moving mechanism, the Y-axis moving mechanism, the first bending mechanism and the limiting mechanism to their initial positions.

[0024] The advantages of the technical solution of the present invention are mainly reflected in:

[0025] The placement of the pipe is determined by the bayonet, and the limit block abuts against the outer edge of the bayonet to fix the pipe; the limit block cooperates with the bending block to ensure that the central area of ​​the pipe will not bend and deform during the bending process, thereby improving the yield rate of the pipe;

[0026] The bending block moves the end of the pipe toward the bayonet until the inner wall of the pipe is completely in contact with the bayonet, completing the first bend of the pipe. The clamping mechanism then cooperates with the bending block to make the pipe form the second and third bends in contact with the bending surface of the bending block. Multiple bends can be completed in one clamping operation, which facilitates the shaping of the pipe after bending and improves processing efficiency and stability.

[0027] The first bending mechanism, the second bending mechanism and the limiting mechanism are all integrated on the base, which reduces the footprint of the base and makes the equipment structure more compact, thereby improving the space utilization of the overall equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 : Background technology of the present invention;

[0029] Figure 2 : A first-direction stereogram of a preferred embodiment of the present invention;

[0030] Figure 3 : A second directional stereogram of a preferred embodiment of the present invention;

[0031] Figure 4 : A front view of a preferred embodiment of the present invention;

[0032] Figure 5 : A top view of a preferred embodiment of the present invention;

[0033] Figure 6 : A side view of a preferred embodiment of the present invention;

[0034] Figure 7 : A partially hidden three-dimensional view of a pipe placement rack according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0035] The objects, advantages, and features of the present invention are illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of the application of the technical solutions of the present invention, and any technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection claimed by the present invention.

[0036] In the description of the scheme, it should be noted that the terms "center", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. Moreover, in the description of the scheme, with the operator as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0037] Combine Figure 2 and Figure 4 or Figure 7 As shown, the present invention discloses a pipe bending apparatus comprising a base 1, on which a pipe rack 2 is disposed. Specifically, at least two support columns 102 are fixed between the base 1 and the pipe rack 2. The outer edge of the pipe rack 2 is curved, and a bayonet 20 for securing the pipe is formed on the outer edge. The two ends of the support surface 201 of the bayonet 20 are located inwardly of the two ends of the pipe rack 2, with a gap formed therebetween.

[0038] Combine Figure 3 and Figure 5As shown, a first bending mechanism 3 is provided at both ends of the bayonet 20, and the first bending mechanism 3 includes a bending block 32 for bending the pipe. The bending block 32 is located at both ends of the pipe rack 2. The bending block 32 includes at least one arc-shaped bending surface 321; the highest point of the bending surface 321 is located on the outside of the end of the pipe rack 2, and applies a force to the pipe until the pipe fits with the bending surface 321. In order to ensure the bending effect, the height of the bending block 32 is preferably designed to be not less than the height of the pipe rack 2 in the present invention, so as to ensure that the bending block 32 can apply a force to the pipe.

[0039] like Figure 3 As shown, the bending mechanism 3 also includes a limit block 33, which partially protrudes from the bending surface 321 of the bending block 32 and is located in the gap between the support surface 201 of the bayonet 20 and the two ends of the pipe rack 2. The distance between the free end of the limit block 33 and the highest point of the bending surface 321 of the bending block 32 is equivalent to the width of the pipe. The limit block 33 is in contact with the pipe rack 2 to limit the extreme movement position of the bending block 32; and when the limit block 33 is in contact with the pipe rack 2, the bending block 32 applies a force to the two ends of the pipe, causing the pipe to form a first bend that fits the outer edge of the pipe rack 2.

[0040] Furthermore, the bending mechanism 3 also includes a driving cylinder 31 that drives the bending block 32 to reciprocate along the Y-axis direction of the base 1 (the width direction of the base 1). Specifically, the driving cylinder 31 is fixed to the cylinder mounting seat 310. The cylinder shaft of the driving cylinder 31 passes through the cylinder mounting seat 310 and the bending mounting seat for placing the bending block, and is detachably connected to the bending block 32. The bending block 32 is fixed to the bending mounting seat by bolts, and a snap-in interface is formed on the bending block 32 along its height direction. The cylinder shaft of the driving cylinder 31 is connected to the snap-in interface. The bending block 32 can be removed from the bending mounting seat along the Z-axis direction (the height direction of the bending block 32) and detached from the driving cylinder 31, thereby facilitating replacement of the bending block 32. In order to prevent the bending block 32 from shaking left and right during movement, the present invention preferably provides mutually parallel guide rods on both sides of the bending mounting seat, and the distance between the two guide rods is equal to the width of the bending mounting seat; that is, the bending mounting seat is limited by the guide rods, thereby further enhancing the stability of the bending block 32 during movement.

[0041] like Figures 2 to 4As shown, the base 1 is further provided with a limiting mechanism 4, which is centrally located between the two first bending mechanisms 3; that is, the two first bending mechanisms 3 are symmetrically located on either side of the limiting mechanism 4. Furthermore, the limiting mechanism 4 is located between the pipe placement rack 2 and the base plate 1. The limiting mechanism 4 includes at least a drive assembly 40, which is a pneumatic cylinder and is located between the two support columns 102. The height of the drive assembly 40 and the support columns 102 is not less than that of the drive assembly 40, providing sufficient space for the drive assembly 40.

[0042] like Figure 3 or Figure 5 As shown, the cylinder shaft of the driving component 40 is fixedly connected to the movable plate 41. The movable plate 41 is located above the base 1, and a sliding mechanism is provided between the movable plate 41 and the base 1. The sliding mechanism includes components disclosed in the prior art, such as slide rail components or screw rods, which can complete linear movement and are not described in detail here.

[0043] like Figure 5 As shown, the limiting mechanism 4 also includes a limiting plate 42 vertically fixed on the movable plate 41. The limiting plate 42 is located on the outside of the pipe placement rack 2 and is driven by the driving assembly 40 to move along the Y-axis direction of the base 1 until the limiting plate 42 abuts against the outer edge of the bayonet 20. The position of the pipe at the bayonet 20 is limited by the limiting plate 42, and cooperates with the bending block 32 on the first bending mechanism 3 to effectively prevent the middle of the pipe from being synchronously bent or generating an arc when the bending block 32 performs a bending operation on the end of the pipe. In addition, in the present invention, it is preferred to set the limiting plate 42 in the middle of the pipe placement rack 2 to ensure that the pipe is subjected to balanced force during the bending process.

[0044] like Figures 2 to 3 As shown, a fixed seat 105 is also provided on the base 1, and the fixed seat 105 is located on the rear side of the pipe placement rack 2 and is clamped with the pipe placement rack 2. A gap is formed between the support surface of the fixed seat 105 and the base 1, and the driving component 40 of the limiting mechanism 4 is located below the fixed seat 105, and its cylinder shaft passes through the gap. The telescopic direction of the driving component 40 is opposite to the telescopic direction of the driving cylinder 31, that is, when the cylinder shaft of the driving component 40 is extended, it drives the limiting plate 42 to move toward the outer edge of the base 1; when the cylinder shaft of the driving component 40 is retracted, it drives the limiting plate 42 to move toward the pipe placement rack 2. The advantage of this design is that it makes the overall structure of the pipe bending equipment more compact, minimizes the footprint of the base 1 to the greatest extent, and improves space utilization.

[0045] like Figure 2 As shown, a mounting frame 50 for accommodating the second bending mechanism 5 is fixed to the fixed base 105. The second bending mechanism 5 includes a Y-axis moving mechanism 51 disposed on the mounting frame 50, and a Z-axis moving mechanism 52 disposed on the Y-axis moving mechanism 51. Specifically, a second fixed base 520 is disposed above the Y-axis moving mechanism 51, and the Z-axis moving mechanism 52 is fixed to the second fixed base 520. The Y-axis moving mechanism 51 drives the second fixed base 520 to move relative to the mounting frame 50 along the Y-axis direction of the base 1.

[0046] Combine Figure 2 and Figure 6 As shown, the Z-axis moving mechanism 52 is provided with a gripper mounting frame 521 and a clamping mechanism 522. The gripper mounting frame 521 comprises a main body fixed to the Z-axis moving mechanism 52 and a mounting portion commensurate with the shape and size of the tubular material after the first bend. The clamping mechanisms 522 are provided on either side of the mounting portion of the gripper mounting frame 521. In the present invention, it is preferred that both the Y-axis moving mechanism 51 and the Z-axis moving mechanism 52 be designed as linear modules. Of course, in addition to linear modules, components disclosed in the prior art that provide linear movement functions may also be used instead, which will not be described in detail here.

[0047] The distance between the clamping mechanism 522 and the main body of the clamping jaw mounting frame 521 is equivalent to the distance between the bayonet 20 and the upper surface of the Y-axis moving mechanism 51. Therefore, when the Z-axis moving mechanism 52 drives the clamping jaw mounting frame 521 and the clamping mechanism 522 to move downward until the main body of the clamping jaw mounting frame 521 is at the bottommost end of the Z-axis moving mechanism 52, the clamping mechanism 522 is located outside the bayonet 20; that is, the clamping mechanism 522 is driven by the Z-axis moving mechanism 52 to move toward the pipe placement rack 2 until it moves outside the bending block 32; then the clamping mechanism 522 is activated to clamp the pipe.

[0048] like Figure 3As shown, the bending block 32 also includes at least one flat surface that smoothly transitions to the bending surface 321, and this flat surface serves as the outer surface of the bending block 32. Since the outer side of the bending block 32 is a flat surface, after the clamping mechanism 522 clamps the tubing, the Y-axis movement mechanism 51 is activated to drive the clamping mechanism 522 toward the opening of the bayonet 20 until the clamping mechanism 522 abuts against the flat surface on the outer side of the bending block 32, thereby allowing the outer surface of the tubing to mate with the bending surface 321 of the bending block 32, completing the second bend of the tubing. Simultaneously, the tubing located outside the bending block 32 forms a third bend between the clamping mechanism 522 and the outer flat surface of the bending block 32 under the force of the clamping mechanism 522. Since the tubing is fixed in position after each bend, the forming stability is high.

[0049] Existing Figure 1 The processing of the pipes shown above is mostly done by cold bending, such as winding, pushing, pressing, rolling, and stretching. This processing method is affected by the bending moment during the pipe bending process. The outer side of the bent cross section is continuously thinned by the bending force, while the inner side is continuously thickened. When the degree of change in the pipe wall thickness exceeds the material performance limit, cracks will occur on the outer side, and wrinkles will be generated on the inner side due to instability. In the present invention, the pipe is processed by stretching and bending through the first bending mechanism 3 and the second bending mechanism 5, so that the pipe undergoes plastic deformation and is bent into a workpiece with the required curvature, shape, and size, thereby improving the material's resistance to instability and avoiding wrinkles on the inner side of the pipe. In addition, because the first bending mechanism 3 and the second bending mechanism 5 are both symmetrical structures, after the operations of both are completed, the pipe forms six symmetrical bends; the integration is high, and the bending efficiency is improved.

[0050] The following is a brief description of the method for using the pipe bending equipment disclosed by the present invention. The specific operating steps are as follows:

[0051] S1, start the limiting mechanism 4, drive the limiting plate 42 to move along the Y-axis direction of the base 1, until the limiting plate 42 abuts against the outer edge of the pipe placement rack 2, and the pipe is restricted in the bayonet 20;

[0052] S2, start the first bending mechanism 3, drive the bending block 32 and the limit block 33 to move toward the bayonet 20, until the limit block 33 abuts against the bottom surface 201 of the bayonet 20; and the bending block 32 bends the tube so that the tube is completely fitted with the bayonet 20, completing the first bending operation of the tube;

[0053] S3, start the Z-axis moving mechanism 52, drive the clamping claw mounting frame 521 and the clamping mechanism 522 to move toward the base 1, until the clamping mechanism 522 is located at both ends of the pipe placement rack 2;

[0054] S4, start the clamping mechanism 522 and clamp the pipe placed on the pipe placement rack 2;

[0055] S5, starting the Y-axis moving mechanism 51, driving the clamping mechanism 522 and the tube to move toward the bending block 32, until the clamping mechanism 522 abuts against the outer surface of the bending block 32;

[0056] S6, the clamping mechanism 522, the Z-axis moving mechanism 52, the Y-axis moving mechanism 51, the first bending mechanism 3 and the limiting mechanism 4 are reset to their initial positions in sequence.

[0057] S7, the first bending mechanism 3 and the limiting mechanism 4 are reset to their initial positions in sequence, and the bent pipe is taken out to complete the pipe blanking operation.

[0058] In addition, after completing the six bends of the pipe, the pipe can also be clamped by the clamping mechanism 522 and driven to move the pipe to the Z axis movement and 52 reset, and then the clamping mechanism 522 can release the pipe and complete the pipe unloading operation after bending.

[0059] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. Pipe bending equipment, characterized by: The invention comprises a base (1), wherein a pipe placing rack (2) is provided on the base (1); the outer edge of the pipe placing rack (2) is arc-shaped, and a bayonet (20) for clamping the pipe is formed on the outer edge; the two ends of the supporting surface (201) of the bayonet (20) are located on the inner side of the two ends of the pipe placing rack (2), and a gap is formed between the two ends; the two ends of the bayonet (20) are provided with a first bending mechanism (3), and the first bending mechanism (3) includes a bending block (32) and a limit block (33) for bending the pipe. The limiting block (33) partially protrudes from the bending surface (321) of the bending block (32) and is located at the gap; a limiting mechanism (4) is also provided on the base (1), and the limiting mechanism (4) includes a driving component (40) and a limiting plate (42); the limiting plate (42) is located on the outside of the pipe placement rack (2) and is driven by the driving component (40) to move along the Y-axis direction of the base (1) until the limiting plate (42) abuts against the outer edge of the bayonet (20); The limiting mechanism (4) is located between the pipe placement rack (2) and the base plate (1); the driving component (40) is a cylinder, and when its cylinder shaft extends, it drives the limiting plate (42) to move toward the outer edge of the base (1); when the cylinder shaft of the driving component (40) contracts, it drives the limiting plate (42) to move toward the pipe placement rack (2); The base (1) is also provided with a fixed seat (105), and the fixed seat (105) is located at the rear side of the pipe placement rack (2) and is clamped with the pipe placement rack (2); a mounting frame (50) for placing a second bending mechanism (5) is fixed on the fixed seat (105); the second bending mechanism (5) includes a Y-axis moving mechanism (51) provided on the mounting frame (50), and a Z-axis moving mechanism (52) provided on the Y-axis moving mechanism (51); a clamping mechanism (522) is provided on the Z-axis moving mechanism (52); the clamping mechanism (522) is driven by the Z-axis moving mechanism (52) to move toward the pipe placement rack (2) until the clamping mechanism (522) moves to the outside of the bending block (32) and clamps the pipe; The Z-axis moving mechanism (52) is further provided with a clamping jaw mounting frame (521), and the clamping mechanism (522) is provided on both sides of the clamping jaw mounting frame (521); the distance between the clamping mechanism (522) and the main body of the clamping jaw mounting frame (521) is equivalent to the distance between the bayonet (20) and the upper surface of the Y-axis moving mechanism (51); the outer side of the bending block (32) is a plane, and a circular arc transition is formed between the bending surface (321); the Y-axis moving mechanism (51) drives the clamping mechanism (522) to move toward the opening direction of the bayonet (20) until the clamping mechanism (522) abuts against the plane of the outer side of the bending block (32).

2. The pipe bending equipment according to claim 1, characterized in that: The first bending mechanism (3) is symmetrically arranged on both sides of the limiting mechanism (4); it also includes a driving cylinder (31) that drives the bending block (32) to move back and forth along the Y-axis direction of the base (1).

3. The pipe bending equipment according to claim 2, characterized in that: The bending surface (321) of the bending block (32) is arc-shaped, and the highest point of the bending surface (321) is located outside the end of the pipe placement rack (2); the height of the bending block (32) is not less than the height of the pipe placement rack (2).

4. The pipe bending equipment according to claim 1, characterized in that: At least two support columns (102) are fixed between the base (1) and the pipe placement rack (2), the drive assembly (40) is located between the two support columns (102), and the height of the support columns (102) is not less than the height of the drive assembly (40).

5. The pipe bending equipment according to claim 1, characterized in that: The Y-axis moving mechanism (51) is a linear moving component; a second fixed seat (520) is provided above the Y-axis moving mechanism (51), and the Z-axis moving mechanism (52) is fixed on the second fixed seat (520); the Y-axis moving mechanism (51) drives the second fixed seat (520) to move relative to the mounting frame (50) along the Y-axis direction of the base (1).

6. The method of using the pipe bending equipment is characterized by: The invention comprises the pipe bending equipment according to any one of claims 1 to 5, and the following operating steps: S1, start the limiting mechanism (4), drive the limiting plate (42) to move along the Y-axis direction of the base (1), until the limiting plate (42) abuts against the outer edge of the pipe placement rack (2), and limits the pipe in the bayonet (20); S2, starting the first bending mechanism (3), driving the bending block (32) and the limiting block (33) to move toward the bayonet (20), until the limiting block (33) abuts against the bottom surface (201) of the bayonet (20); and the bending block (32) bends the pipe so that the pipe is completely fitted with the bayonet (20); S3, resetting the first bending mechanism (3) and the limiting mechanism (4) to their initial positions in sequence.

7. The method for using the pipe bending equipment according to claim 6, characterized in that: The following steps are also included: S1, starting the Z-axis moving mechanism (52), driving the clamping claw mounting frame (521) and the clamping mechanism (522) to move toward the base (1), until the clamping mechanism (522) is located at both ends of the pipe placement frame (2); S2, starting the clamping mechanism (522) and clamping the pipe placed on the pipe placement rack (2); S3, starting the Y-axis moving mechanism (51), driving the clamping mechanism (522) and the pipe to move toward the bending block (32), until the clamping mechanism (522) abuts against the outer surface of the bending block (32); S4, sequentially resetting the clamping mechanism (522), the Z-axis moving mechanism (52), the Y-axis moving mechanism (51), the first bending mechanism (3) and the limiting mechanism (4) to their initial positions.

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