Method and device for continuously bending pipe

Abstract

The present invention discloses a method and device for continuously bending a pipe, the method comprising: S3, measuring the position data between the second bend and the previous bend; S4, predicting the shape and size of the bend obtained after the pipe is bent; S5, comparing the predicted shape and size of the bend with the shape and size of the bend to be bent, if they are consistent, controlling the pipe bending machine module to perform the bending operation of the second bend according to the set bending parameters, if they are inconsistent, adjusting the position data between the second bend and the previous bend until the shape and size are consistent, controlling the pipe bending machine module to perform the bending operation of the second bend according to the adjusted position data; S6, repeating steps S3 to S5 until all bends are bent to obtain a continuously bent pipe. The present invention can add a comparison link before bending, predict the shape of the pipe after bending according to the set bending parameters and the measured position data, avoid bending errors, improve the accuracy of pipe bending, and reduce material waste.

Description

Technical Field

[0001] The present invention specifically relates to a method and device for continuously bending a pipe. Background Art

[0002] In nuclear power plants, pipe bends and elbows are two common means of changing the flow direction of process fluids, and are widely used in nuclear power plants. Compared with elbows, pipe bends have more flexible weld settings, which can effectively reduce the number of welds, thereby reducing the total number of welds in the project and reducing the amount of engineering installation. The use of continuous pipe bends can further reduce the total number of welds.

[0003] At present, for the bending of continuous pipes, each pipe is treated independently. The first pipe is bent first, and the relative relationship between the second pipe and the first pipe is manually evaluated before the second pipe is bent. The same is true for three or more continuous pipes. This working mode relies on the staff's understanding of the pipe bending drawings, which is prone to bending errors. Especially when there is a spatial angle between two continuous bends, it is more likely that the relative position of the two continuous bends will be wrong, resulting in material waste. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method and device for continuous pipe bending in view of the above-mentioned deficiencies in the prior art, which can add a comparison link before bending, predict the shape of the pipe after bending according to the set bending parameters and the measured position data, avoid bending errors, improve the accuracy of pipe bending, and reduce material waste.

[0005] The technical solution of the present invention to solve the above technical problems is:

[0006] According to a first aspect of the present invention, there is provided a method for continuously bending a pipe, comprising:

[0007] S1, obtaining information of the bent pipe to be bent, and determining the shape and size of the bent pipe to be bent;

[0008] S2, placing the pipe in the pipe bending machine module, setting the bending parameters of the first bend of the pipe according to the information of the pipe to be bent, and completing the bending of the first bend;

[0009] S3, adjusting the position of the remaining straight pipe section of the bent pipe on the pipe bending machine module, setting the bending parameters of the second bend of the bent pipe, and measuring the position data between the second bend and the previous bend;

[0010] S4, predicting the shape and size of the bent pipe obtained after the pipe is bent according to the set bending parameters and the measured position data;

[0011] S5, comparing the predicted shape and size of the bent pipe with the shape and size of the bent pipe to be bent, and judging whether the predicted shape and size of the bent pipe are consistent with the shape and size of the bent pipe to be bent according to the comparison result; if they are consistent, controlling the pipe bending machine module to perform the bending operation of the second bend according to the set bending parameters; if they are inconsistent, adjusting the position data between the second bend and the previous bend until the shape and size are consistent, and then controlling the pipe bending machine module to perform the bending operation of the second bend according to the adjusted position data;

[0012] S6, repeating steps S3 to S5 until all bends are bent to obtain a continuous bend pipe.

[0013] Preferably, the step of obtaining information of the pipe to be bent includes:

[0014] The data is directly read from the three-dimensional model of the target elbow, or is scanned and read from the target drawing, or is obtained through manual input.

[0015] Preferably, the measuring of the position data between the second bend and the previous bend includes:

[0016] Measure the bending space angle and the length of the straight pipe section between the second bend and the previous bend.

[0017] According to a second aspect of the present invention, there is provided a device for continuously bending a pipe, comprising a pre-processing module, a pipe bending machine module, a pipe bending measurement module, a data processing module, and a verification and display module, wherein:

[0018] The pre-processing module is used to obtain information of the bent pipe to be bent and determine the shape and size of the bent pipe to be bent;

[0019] The pipe bending machine module has bending parameters set therein, and is used to perform pipe bending operations according to the bending parameters to make the pipe into a bent pipe;

[0020] The pipe bending measurement module is used to measure the position data between the current bend to be made and the previous bend in the pipe bending machine module;

[0021] The data processing module is connected to the pipe bending machine module and the pipe bending measurement module respectively, and is used to predict the shape and size of the pipe bend obtained after the pipe is bent according to the set bending parameters and the position data measured by the pipe bending measurement module, and compare it with the shape and size of the pipe bend to be bent, and judge whether the shape and size of the predicted pipe bend are consistent with the shape and size of the pipe bend to be bent according to the comparison result;

[0022] The verification and display module is connected to the pre-processing module and the data processing module respectively, and is used to display and compare the graphics of the bent pipe to be bent and the graphics of the predicted bent pipe, and display the comparison result.

[0023] Preferably, the bend pipe measurement module includes an angle measurement submodule and a distance measurement submodule, wherein:

[0024] The angle measurement submodule is used to measure the bending angle between the current bend and the previous bend and the bending pipe spatial angle;

[0025] The distance measurement submodule is used to measure the length of the straight pipe section between the current bend to be made and the previous bend.

[0026] Preferably, the data processing module is also connected to the pipe bending machine module, and is also used to send a pipe bending prediction qualified signal to the pipe bending machine module when it is determined that the shape and size of the predicted pipe bend are consistent with the shape and size of the pipe to be bent. The pipe bending machine module is also used to receive the pipe bending prediction qualified signal, and after receiving the pipe bending prediction qualified signal, perform the pipe bending operation according to the currently set bending parameters and position data.

[0027] Preferably, the data processing module has a data modification function, and is also used to modify the measured position data when it is determined that the shape and size of the predicted bent pipe are inconsistent with the shape and size of the bent pipe to be bent, and send the modified position data to the pipe bending machine module when the predicted shape and size of the bent pipe are consistent with the shape and size of the bent pipe to be bent. The pipe bending machine module is also used to perform the pipe bending operation according to the modified position data.

[0028] Preferably, the verification and display module is also used to issue a warning of inconsistencies when the data processing module determines that the predicted shape and size of the bent pipe are inconsistent with the shape and size of the bent pipe to be bent.

[0029] According to a third aspect of the present invention, there is provided an apparatus for continuously bending a pipe, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the method for continuously bending a pipe as described above.

[0030] Beneficial effects:

[0031] The method and device for continuously bending a pipe of the present invention can add a comparison link before bending, and predict the shape and size of the pipe after bending in advance according to the set bending parameters and measured position data, thereby avoiding bending errors, improving the accuracy of pipe bending, and reducing material waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a flow chart of the method for continuous pipe bending in Example 1 of the present invention;

[0033] Figure 2 It is a schematic structural diagram of the device for continuously bending a pipe in Example 2 of the present invention;

[0034] Figure 3 Schematic diagram of a double elbow pipe in Example 2 of the present invention;

[0035] Figure 4 It is a schematic diagram of the structure of the device for continuously bending a pipe in Example 3 of the present invention.

[0036] In the figure: 1-pre-processing module; 2-bending machine module; 3-bending measurement module; 4-data processing module; 5-checking and display module; 21-memory; 22-processor. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the technical solution of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0038] It should be understood that the specific embodiments and drawings described herein are only used to explain the present invention rather than to limit the present invention.

[0039] It can be understood that, in the absence of conflict, the various embodiments of the present invention and the various features in the embodiments can be combined with each other.

[0040] It can be understood that, for the convenience of description, the drawings of the present invention only show the parts related to the present invention, while the parts irrelevant to the present invention are not shown in the drawings.

[0041] It can be understood that each unit and module involved in the embodiments of the present invention may correspond to only one physical structure, or may be composed of multiple physical structures, or multiple units and modules may be integrated into one physical structure.

[0042] It can be understood that, without conflict, the functions and steps marked in the flowcharts and block diagrams of the present invention may occur in an order different from that marked in the drawings.

[0043] It is understood that the flowcharts and block diagrams of the present invention illustrate the possible architectures, functions, and operations of the systems, devices, equipment, and methods according to the various embodiments of the present invention. Each box in the flowchart or block diagram may represent a unit, module, program segment, or code, which contains executable instructions for implementing the specified functions. Moreover, each box or combination of boxes in the block diagram and flowchart may be implemented by a hardware-based system that implements the specified functions, or may be implemented by a combination of hardware and computer instructions.

[0044] It can be understood that the units and modules involved in the embodiments of the present invention can be implemented by software or hardware. For example, the units and modules can be located in a processor.

[0045] In view of the fact that the continuous pipe bending process in the prior art relies on the staff's understanding of the pipe bending drawings, there are problems such as easy bending errors and material waste. The present invention discloses a method for continuous pipe bending, comprising:

[0046] S1, obtaining information of the bent pipe to be bent, and determining the shape and size of the bent pipe to be bent;

[0047] S2, placing the pipe in the pipe bending machine module, setting the bending parameters of the first bend of the pipe according to the information of the pipe to be bent, and completing the bending of the first bend;

[0048] S3, adjusting the position of the remaining straight pipe section of the bent pipe on the pipe bending machine module, setting the bending parameters of the second bend of the bent pipe, and measuring the position data between the second bend and the previous bend;

[0049] S4, predicting the shape and size of the bent pipe obtained after the pipe is bent according to the set bending parameters and the measured position data;

[0050] S5, comparing the predicted shape and size of the bent pipe with the shape and size of the bent pipe to be bent, and judging whether the predicted shape and size of the bent pipe are consistent with the shape and size of the bent pipe to be bent according to the comparison result, wherein: if they are consistent, the bending machine module is controlled to perform the bending operation of the second bend according to the set bending parameters; if they are inconsistent, the position data between the set second bend and the previous bend is adjusted until the shape and size are consistent, and the bending machine module is controlled to perform the bending operation of the second bend according to the adjusted position data;

[0051] S6, repeating steps S3 to S5 until all bends are bent to obtain a continuous bend pipe.

[0052] Correspondingly, the present invention also discloses a device for continuously bending a pipe, comprising a pre-processing module, a pipe bending machine module, a pipe bending measurement module, a data processing module, and a verification and display module, wherein:

[0053] The pre-processing module is used to input information of the bent pipe to be bent and determine the shape and size of the bent pipe to be bent;

[0054] The pipe bending machine module has bending parameters set therein, and is used to perform pipe bending operations according to the bending parameters to make the pipe into a bent pipe;

[0055] The pipe bending measurement module is used to measure the position data between the current bend to be made and the previous bend in the pipe bending machine module;

[0056] The data processing module is connected to the pipe bending machine module and the pipe bending measurement module respectively, and is used to predict the shape and size of the pipe bend obtained after the pipe is bent according to the set bending parameters and the position data measured by the pipe bending measurement module;

[0057] The verification and display module is connected to the pre-processing module and the data processing module respectively, and is used to display the graphics of the bent pipe to be bent and the graphics of the predicted bent pipe and compare them, and judge whether the shape and size of the predicted bent pipe are consistent with the shape and size of the bent pipe to be bent according to the comparison result.

[0058] Correspondingly, the present invention also discloses a device for continuously bending a pipe, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement the method for continuously bending a pipe as described above.

[0059] Example 1

[0060] This embodiment discloses a method for continuously bending a pipe, such as Figure 1 As shown, the method includes steps S1 to S6:

[0061] S1, obtaining information (data) of the bent pipe to be bent, and determining the shape and size of the bent pipe to be bent.

[0062] In some embodiments, the information of the pipe to be bent is obtained by directly reading data from the three-dimensional model of the target pipe, or by scanning and reading the target drawing, or by manual input. Of course, it can also be a combination of the above methods.

[0063] S2, placing the pipe in the pipe bending machine module, setting the bending parameters of the first bend of the pipe according to the information of the pipe to be bent, and completing the bending of the first bend.

[0064] In some embodiments, the bending parameters include arc starting point, bending radius, bending angle, etc. The pipe bending machine module is the main body of pipe bending, used to perform pipe bending operations, and bends the pipe to a specific angle according to the set bending parameters, and should have the ability to bend continuously.

[0065] S3, after the first bend is completed, the first bend is clamped at a specific position with a fixture, and the position of the remaining straight pipe section of the bent pipe on the pipe bending machine module is adjusted, the bending parameters of the second bend of the bent pipe (including arc starting point, bending radius, bending angle, etc.) are set, and the position data between the second bend and the previous bend is measured.

[0066] In some embodiments, measuring the position data between the second bend and the previous bend includes:

[0067] Measure the bending space angle, straight pipe length, bending angle and other data between the second bend and the previous bend.

[0068] S4, predicting the shape and size of the bent pipe obtained after the pipe is bent according to the set bending parameters and the measured position data.

[0069] S5, comparing the predicted shape and size of the bent pipe with the shape and size of the bent pipe to be bent, and judging whether the predicted shape and size of the bent pipe are consistent with the shape and size of the bent pipe to be bent according to the comparison result, wherein:

[0070] If they are consistent, the pipe bending machine module is controlled to perform the bending operation of the second bend according to the set bending parameters;

[0071] If they are inconsistent, adjust the position data between the second bend and the previous bend until the shape and size are consistent, and then control the pipe bending machine module to perform the bending operation of the second bend according to the adjusted position data.

[0072] S6, if more bends need to be made, repeat steps S3 to S5 until all bends are made and a continuous bend tube is obtained.

[0073] The method for continuous pipe bending of the present embodiment can add a comparison step before bending, and predict the shape and size of the pipe after bending in advance according to the set bending parameters and measured position data, thereby avoiding bending errors, improving the accuracy of pipe bending, and reducing material waste.

[0074] Example 2

[0075] This embodiment discloses a device for continuously bending a pipe, which is used to perform the above-mentioned method for continuously bending a pipe, such as Figure 2 As shown, the device includes a pre-processing module 1, a pipe bending machine module 2, a pipe bending measurement module 3, a data processing module 4, and a verification and display module 5, wherein:

[0076] The pre-processing module 1 has one or more functions of directly reading the three-dimensional model of the target bent pipe, scanning and reading the target drawing, manual input, etc., and is used to obtain the information of the bent pipe to be bent and determine the shape and size of the bent pipe to be bent;

[0077] The pipe bending machine module 2 can be used to set bending parameters such as arc starting point, bending radius, bending angle, etc., and is used to perform pipe bending operations according to the bending parameters to make the pipe into a bent pipe;

[0078] The pipe bending measurement module 3 is used to measure the position data between the current bend to be bent and the previous bend in the pipe bending machine module (i.e., measuring the pipe bending data). For example, after the first bend is bent and before the second bend is bent, the bending space angle, the straight pipe section length, the bending angle and other data between the second bend and the first bend are measured;

[0079] The data processing module 4 is connected to the pipe bending machine module 2 and the pipe bending measurement module 3 respectively, and is used to predict the shape and size of the pipe bend obtained after the pipe is bent according to the set bending parameters and the position data measured by the pipe bending measurement module, and compare the shape and size of the pipe bend with the shape and size of the pipe bend to be bent, so as to judge whether the shape and size of the predicted pipe bend are consistent with the shape and size of the pipe bend to be bent according to the comparison result. Specifically, if they are consistent, it means that the currently set bending parameters and position data are correct, and the pipe bending machine module can be controlled to continue to perform the pipe bending operation according to the position of the currently set bending parameters; if they are inconsistent, it means that the position data between the current bend to be bent and the previous bend needs to be adjusted until the shape and size are consistent, and then the pipe bending machine module is controlled to continue to perform the pipe bending operation according to the adjusted position data;

[0080] The verification and display module 5 is connected to the pre-processing module 1 and the data processing module 4 respectively, and is used to display the graphics of the bent pipe to be bent determined in the pre-processing module and the graphics of the bent pipe predicted in the data processing module, as well as display the comparison results, so as to facilitate the staff to compare intuitively and avoid bending errors.

[0081] In some embodiments, the bend measurement module 3 includes an angle measurement submodule and a distance measurement submodule, wherein: the angle measurement submodule is used to measure the bending angle, the bend space angle and other data between the current bend to be made and the previous bend; the distance measurement submodule is used to measure the length of the straight pipe section of the bend between the current bend to be made and the previous bend and other data.

[0082] In some embodiments, the data processing module 4 is also used to send a pipe bending prediction qualified signal to the pipe bending machine module 2 when it is determined that the shape and size of the predicted pipe bend are consistent with the shape and size of the pipe to be bent; the pipe bending machine module 2 is also used to receive the pipe bending prediction qualified signal, and after receiving the pipe bending prediction qualified signal, perform the pipe bending operation according to the currently set bending parameters and position data.

[0083] In some embodiments, the data processing module 4 has a data modification function to accurately predict the shape after bending, and is also used to modify the measured position data when it is determined that the predicted shape and size of the bent pipe are inconsistent with the shape and size of the bent pipe to be bent, so that the predicted shape and size of the bent pipe are consistent with the shape and size of the bent pipe to be bent, and send the modified position data to the pipe bending machine module 2 when they are consistent. The pipe bending machine module 2 is also used to perform pipe bending operations according to the modified position data.

[0084] In some embodiments, the verification and display module 5 has a size display function, which further facilitates intuitive comparison by personnel.

[0085] In some embodiments, the verification and display module 5 is also used to issue a warning about the inconsistency when the data processing module 4 determines that the shape and size of the predicted bent pipe are inconsistent with the shape and size of the bent pipe to be bent, for example, by highlighting the inconsistency between the two.

[0086] Taking a typical double-bending pipe as an example, the working process of the continuous bending pipe device of this embodiment is described in detail as follows:

[0087] After the staff gets the bending drawing or model, they record the information of the bending pipe into the pre-processing module 1 by reading or inputting. The pre-processing module 1 draws the graphics of the bending pipe to be bent according to the recorded bending information, and displays it in the verification and display module 5 in the form of a dimensioned graphic. For the second bending pipe, the size and shape of the bending pipe can be determined by the following parameters: Figure 3 As shown, the straight pipe length L1 between the pipeline end point and the starting point of the first bend, the straight pipe length L2 between the two bends, the straight pipe length L3 between the second pipe section and the other end of the pipeline, the bending radius R1 of the first bend, the bending angle α1 of the first bend, the bending radius R2 of the second bend, the bending angle α2 of the second bend and the spatial angle α3 of the plane where the second bend is located relative to the plane where the first bend is located.

[0088] Place the straight pipe that meets the length requirement in the pipe bending machine module 2, and set the working plane of the pipe bending machine module 2 to a horizontal plane, that is, the pipe bending machine module 2 bends the pipe to the required angle on the horizontal plane. Fix the pipe on the pipe bending machine module 2, set the arc starting point of the first bend, measure the straight pipe length value L1 between the arc starting point of the first bend and the pipe end point through the pipe bending measurement module 3, set the full radius and bending angle, and then the first bend can be made.

[0089] Usually, the probability of bending error in the first bend is small. After bending the first bend, the operator determines the relative relationship between the second bend and the first bend on the bending drawing. Generally speaking, the position of the second bend can be inferred from the first bend based on the spatial angle relationship α3 between the two bends and the length of the straight pipe section L2 between the two bends.

[0090] Since the bending plane of the pipe bending machine module 2 is set in the horizontal plane, after the first bending is completed, the first bend of the pipe is clamped in the fixture, and the spatial angle between the second bend and the first bend can be determined by adjusting the spatial angle relationship between the first bend and the horizontal plane, and the spatial angle value α3 of the first bend and the horizontal plane is measured by the pipe bending measurement module 3. At the same time, since the arc starting point position of the first bend is fixed, the arc starting point position of the second bend is set on the pipe bending machine module 2, and the straight pipe section length between the second bend and the first bend can be confirmed, and the straight pipe section length value L2 between the arc starting point of the second bend and the arc ending point of the first bend is measured by the pipe bending measurement module 3.

[0091] In addition, the bending radius and bending angle of the second bend are set on the pipe bending machine module 2 , and the data of the bending radius and bending angle of the second bend are input on the data processing module 4 .

[0092] At this point, the straight pipe length L1 between the pipe end point and the arc starting point of the first bend, the straight pipe length L2 between the two bends, the straight pipe length L3 between the second pipe section and the other end of the pipe, the bending radius R1 of the first bend, the bending angle α1 of the first bend, the bending radius R2 of the second bend, the bending angle α2 of the second bend, and the spatial angle α3 of the plane where the second bend is located relative to the plane where the first bend is located are all known. The data processing module 4 predicts the bend graph to be bent based on this, and displays it in the form of a dimensioned graph in the verification and display module 5, and compares the predicted shape and size of the bend with the shape and size of the bend to be bent drawn by the pre-processing module 1, wherein:

[0093] If the comparison result is consistent, the pipe bending machine module 2 bends the second bend according to the currently set bending parameters and position data;

[0094] If the comparison result is inconsistent, the verification and display module 5 will issue an alarm for the inconsistent situation, and the position data between the second bend and the first bend will be adjusted until the comparison result is consistent. The pipe bending machine module 2 will continue to perform the pipe bending operation according to the adjusted position data. In this way, it can be ensured that the bent pipe is consistent with the drawing or model and meets the project requirements.

[0095] The third bend or three or more consecutive bends are bent according to the above process, which will not be described in detail here.

[0096] Example 3

[0097] This embodiment discloses a device for continuously bending a pipe, such as Figure 4 As shown, it includes a memory 21 and a processor 22, wherein the memory 21 stores a computer program, and the processor 22 is configured to run the computer program to execute the method for continuous pipe bending described in Example 1.

[0098] The device for continuous pipe bending disclosed in Examples 2 to 3 can be used as an auxiliary tool for pre-continuous bending inspection in nuclear power plants. It can add a comparison link before bending, and predict the shape and size of the pipe after bending in advance based on the set bending parameters and measured position data, thereby avoiding bending errors, improving the accuracy of pipe bending, and reducing material waste.

[0099] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for continuously bending a pipe, comprising: S1, obtaining information of the bent pipe to be bent, and determining the shape and size of the bent pipe to be bent; S2, placing the pipe in the pipe bending machine module, setting the bending parameters of the first bend of the pipe according to the information of the pipe to be bent, and completing the bending of the first bend; S3, adjusting the position of the remaining straight pipe section of the bent pipe on the pipe bending machine module, setting the bending parameters of the second bend of the bent pipe, and measuring the position data between the second bend and the previous bend; S4, predicting the shape and size of the bent pipe obtained after the pipe is bent according to the set bending parameters and the measured position data; S5, comparing the predicted shape and size of the bent pipe with the shape and size of the bent pipe to be bent, and judging whether the predicted shape and size of the bent pipe are consistent with the shape and size of the bent pipe to be bent according to the comparison result, If they are consistent, the pipe bending machine module is controlled to perform the second bending operation according to the set bending parameters. If they are inconsistent, the position data between the second bend and the previous bend is adjusted until the shape and size are consistent, and the pipe bending machine module is controlled to perform the bending operation of the second bend according to the adjusted position data; S6, repeating steps S3 to S5 until all bends are bent to obtain a continuous bend pipe.

2. The method for continuously bending a pipe according to claim 1, characterized in that: The step of obtaining information of the pipe to be bent includes: The data is directly read from the three-dimensional model of the target elbow, or is scanned and read from the target drawing, or is obtained through manual input.

3. The method for continuously bending a pipe according to claim 1, characterized in that: The measuring of the position data between the second bend and the previous bend includes: Measure the bending space angle and the length of the straight pipe section between the second bend and the previous bend.

4. A device for continuously bending a pipe, characterized in that: It comprises a pre-processing module (1), a pipe bending machine module (2), a pipe bending measurement module (3), a data processing module (4), and a calibration and display module (5). The pre-processing module is used to obtain information of the bent pipe to be bent and determine the shape and size of the bent pipe to be bent; The pipe bending machine module has bending parameters set therein, and is used to perform pipe bending operations according to the bending parameters to make the pipe into a bent pipe; The pipe bending measurement module is used to measure the position data between the current bend to be made and the previous bend in the pipe bending machine module; The data processing module is connected to the pipe bending machine module and the pipe bending measurement module respectively, and is used to predict the shape and size of the pipe bend obtained after the pipe is bent according to the set bending parameters and the position data measured by the pipe bending measurement module, and compare it with the shape and size of the pipe bend to be bent, and judge whether the shape and size of the predicted pipe bend are consistent with the shape and size of the pipe bend to be bent according to the comparison result; The verification and display module is connected to the pre-processing module and the data processing module respectively, and is used to display and compare the graphics of the bent pipe to be bent and the graphics of the predicted bent pipe, and display the comparison result.

5. The device for continuously bending a pipe according to claim 4, characterized in that: The bending pipe measurement module includes an angle measurement submodule and a distance measurement submodule. The angle measurement submodule is used to measure the bending angle between the current bend and the previous bend and the bending pipe spatial angle; The distance measurement submodule is used to measure the length of the straight pipe section between the current bend to be made and the previous bend.

6. The device for continuously bending a pipe according to claim 4, characterized in that: The data processing module is also used to send a pipe bending prediction qualified signal to the pipe bending machine module when it is determined that the shape and size of the predicted pipe bending are consistent with the shape and size of the pipe bending to be bent; The pipe bending machine module is also used to receive the pipe bending prediction qualified signal, and after receiving the pipe bending prediction qualified signal, perform the pipe bending operation according to the currently set bending parameters and position data.

7. The device for continuously bending a pipe according to claim 5, characterized in that: The data processing module has a data modification function, and is also used to modify the measured position data when it is determined that the shape and size of the predicted bent pipe are inconsistent with the shape and size of the bent pipe to be bent, and send the modified position data to the pipe bending machine module when the shape and size of the predicted bent pipe are consistent with the shape and size of the bent pipe to be bent. The pipe bender module is also used to perform pipe bending operations according to the modified position data.

8. The device for continuously bending a pipe according to any one of claims 4 to 7, characterized in that: The verification and display module is also used to issue a warning for inconsistencies when the data processing module determines that the shape and size of the predicted curved pipe are inconsistent with the shape and size of the curved pipe to be bent.

9. A device for continuously bending a pipe, characterized in that: It comprises a memory (21) and a processor (22), wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the method for continuously bending a pipe as claimed in any one of claims 1 to 3.

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