Automatic hydraulic grabbing beams are the key equipment for the opening and closing of multi-section deep-hole gates in port and waterway engineering. The conventional automatic hydraulic grabbing beams with two lifting points have no self-balancing function and require that the connection line between the two lifting points coincide with the center of gravity line of the gate. Therefore，they are not readily applicable to the opening and closing of gates with different center of gravity lines. Given the poor universality of automatic hydraulic grabbing beams with two lifting points，this paper focuses on the development of a self-balancing automatic hydraulic grabbing beam with four lifting points. The proposed automatic hydraulic grabbing beam adopts a frame structure，where four lifting points are arranged，and connects its beam body with the hoist by a connecting rod and a hydraulic cylinder. When opening and closing gates with different center of gravity lines，the grabbing beam levels incline gates through the extension and retraction of the hydraulic cylinder. The results show the proposed self-balancing automatic hydraulic grabbling beam with four lifting points can well solve the universality problem of the conventional grabbing beams，simplify the gate design and reduce the project amount and investment of the gate.