Pipe numerical control winding and pushing forming method and device

The invention discloses a pipe numerical control winding and pushing forming method and device. The device comprises a horizontal pushing motor and vertical pushing motors, wherein a horizontal lead screw sliding table is arranged at one end of the horizontal pushing motor, and an axial rotating motor is fixed to the horizontal lead screw sliding table through a connecting plate; and vertical leadscrew sliding tables are arranged at one ends of the vertical pushing motors, bending motors are fixed to the vertical lead screw sliding tables through connecting plates, the bending motors are connected with a horizontal connecting rod through couplers, and the horizontal connecting rod is connected with a movable bending shaft sleeve through a vertical connecting rod. The forming method can achieve die-free bending forming, so that resource waste is sharply reduced, and green and environment-protecting concept is fully embodied; the pipe numerical control winding and pushing forming methodand device can be used fo