Self-adaptive balance lifting appliance, lifting method and master control system

The invention relates to a self-adaptive balance lifting appliance, a lifting method and a master control system, a frame body is provided with two mounting positions arranged in the Y direction of a whole vehicle coordinate system, the mounting positions comprise two mounting points arranged in the X direction, and the mounting points of the two mounting positions are distributed in a square shape; a hanging arm for hanging a hanging object is arranged at the lower part of the mounting point, and a pressure sensor for measuring the pressure of the hanging object is arranged on the hanging arm; the chain is connected with the adjusting mechanism, and the two ends of the chain are connected to the two installation points of the installation position respectively. And the main control device is connected with the pressure sensor and the adjusting mechanism, and is used for calculating the adjusting length according to the measured pressure, the gravity of the hoisted object, the total length of the chain and th