The invention relates to a pipe lifting device for petroleum exploration. The pipe lifting device comprises a base, a cross beam and two lifting mechanisms; an adjusting mechanism is arranged in the cross beam, and is in transmission connection with the lifting mechanisms; the cross beam is fixed below the base; and the two lifting mechanisms are both arranged below the cross beam. In the pipe lifting device for petroleum exploration, a driving shaft controls rotation of a driving gear; the driving gear controls synchronous movement of two transmission rods; and a connecting rod controls movement of the lifting mechanisms, so that the symmetry of the two lifting mechanisms is guaranteed, and the lifting stability is realized; meanwhile, the adjustment of the two lifting mechanisms is realized through one motor, so that the production cost is reduced, and the market competitiveness is improved; and moreover, in a motor driving circuit, a fifth triode and a sixth triode are added, and a first-grade drive is added, so that the circuit driving capacity is improved, and the reliability of the lifting device is improved.