Pipe lifting machine and balance control method thereof

The invention relates to the field of engineering vehicles, and discloses a pipe lifting machine. The pipe lifting machine is additionally provided with two weight bearing assemblies capable of being supported on the ground, each weight bearing assembly is provided with a force measuring sensor, the force measuring sensors are used for obtaining the acting forces between the weight bearing assemblies and the ground in the preset direction, and then whether the pipe lifting machine is balanced or not is determined according to the acting forces. The invention further provides a balance control method of the pipe lifting machine. When the pipe lifting machine in a non-driving state receives a lifting instruction, the two weight bearing assemblies are controlled to be switched to a supporting state; and the acting force between each weight bearing assembly and the ground in the preset direction is calculated, and when the moments of the acting forces between the two weight bearing assemblies and the ground in th