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 the preset direction relative to the
vertical axis where the
gravity center of a
chassis structure is located are unequal, a driving unit is controlled to drive a balance weight to act so as to adjust the pipe lifting machine to be in a balanced state. The problem that the tilting moment is difficult to accurately measure in the prior art is effectively solved, the balance weight can be adjusted in time according to the
actual use environment, and unbalance loading and
rollover of the pipe lifting machine are prevented.