Automatic counterweight device and underwater operation robot

Abstract

The utility model relates to an automatic counterweight device and underwater operation robot, including fixed base, balancing weight, slide carriage, drive mechanism and limit locking mechanism, the slide carriage is movably installed on the fixed base, drive mechanism is installed on the fixed base and is connected with slide carriage, the slide carriage has a plurality of installation positions for holding balancing weight, the limit locking mechanism is fixed on the fixed base, and the limit locking mechanism is fixed on the fixed base. The limiting and locking mechanism comprises a first limiting side plate and a plurality of locking units, the first limiting side plate is fixed to the sliding seat and located beside the mounting positions, each mounting position is correspondingly provided with one locking unit, and each locking unit comprises a lock pin movably mounted on the first limiting side plate and a locking and limiting assembly; the position of the lock pin in the height direction of the sliding seat is fixed, and the lock pin can move in the plane direction perpendicular to the height direction; a pin hole is formed in the balancing weight, a lock pin of the limiting and locking mechanism can be inserted into the pin hole of the balancing weight, the locking and limiting assembly can limit the position of the lock pin so that the lock pin can not retreat from the pin hole, and the balancing weight is fixed to the sliding base through the limiting and locking mechanism.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater operation robot technical field, concretely relates to a kind of automatic counterweight device and underwater operation robot. BACKGROUND

[0002] In the field of underwater engineering technology, underwater operation robot, especially underwater robot with autonomous or remote control movement ability, is playing an increasingly important role. These devices need to adapt to complex and variable underwater environment, and perform a series of high-precision and high-risk tasks from deep sea exploration to underwater construction. However, the particularity of underwater environment puts high requirements on the stability and controllability of underwater robot. Among them, the mass distribution and center of gravity position of underwater robot are the key factors to determine its motion performance and operation stability.

[0003] The traditional configuration method is usually to install the counterweight block to the specific position of underwater operation robot by mechanical fixation according to the estimated operation demand in the water surface stage. Once the device is launched, due to the closedness of underwater environment and the difficulty of operation, the adjustment of counterweight block becomes extremely inconvenient, even impossible. This static configuration method is not flexible enough when facing the dynamic environmental changes and operation demand adjustments that may be encountered in actual underwater operation, and it is difficult to optimize the center of gravity position of underwater robot in real time, thereby affecting its operation accuracy, stability and safety. Therefore, it is particularly important to develop a kind of underwater operation robot counterweight device that can adjust the overall mass distribution flexibly in underwater environment to dynamically adjust the center of gravity position. SUMMARY

[0004] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the utility model is to provide an automatic counterweight device and underwater operation robot, which can automatically adjust the counterweight to adjust the center of gravity position of the device as needed, and the installation of the counterweight block is stable, flexible and convenient.

[0005] In order to achieve the above object, the utility model provides a kind of automatic counterweight device, including fixed base and counterweight, further including slide, drive mechanism and limit locking mechanism, the slide is movably installed in fixed base, the drive mechanism is installed in fixed base and is connected with slide, can drive slide to move, the slide has several installation sites for accommodating counterweight, the limit locking mechanism includes the first limit side plate fixed to slide and located at installation site side, and several locking units are installed in the first limit side plate, each installation site is correspondingly provided with one locking unit for locking and fixing counterweight, the locking unit includes lock pin movably installed in the first limit side plate, and locking limiting component for limiting the position of lock pin, the position of lock pin is fixed in the height direction of slide, and it can move in the plane direction perpendicular to height direction;Pin hole is provided on the counterweight, the lock pin of corresponding limit locking mechanism can be inserted into the pin hole of counterweight when the counterweight is placed in installation site, the locking limiting component can limit the position of lock pin so that lock pin cannot exit pin hole when lock pin is inserted into counterweight, and limit locking mechanism fixes counterweight on slide.

[0006] Further, the first limit side plate is provided on the opposite sides of the installation site, and the counterweight is located between the two first limit side plates when placed in the installation site.

[0007] Further, pin holes are provided on the opposite sides of the counterweight, and the pin holes on the two sides of the counterweight face the two first limit side plates respectively when the counterweight is placed in the installation site, the lock pin of the locking unit is multiple, and lock pins are provided on the two first limit side plates.

[0008] Further, the installation sites on the slide are arranged along the height of the slide, and multiple counterweights can be stacked, the locking units of the limit locking mechanism are multiple, and are arranged along the height direction.

[0009] Further, a guide rod is provided on the slide, a guide hole is provided in the counterweight, and the guide hole is sleeved on the guide rod when the counterweight is placed on the slide.

[0010] Further, stop protrusions and stop grooves are respectively provided on the top surface and the bottom surface of the counterweight, the stop protrusions of the upper and lower adjacent counterweights are inserted into the stop grooves when the counterweights are stacked.

[0011] Further, the locking and limiting assembly of the locking unit comprises a limiting guide pipe fixed on the first limiting side plate, a limiting guide groove is formed on the inner wall of the limiting guide pipe, the limiting guide groove comprises a straight guide groove extending linearly along the axial direction of the limiting guide pipe, and a locking and limiting groove connected with the inner side end of the straight guide groove towards the installation position, the locking and limiting groove extends along the circumferential direction of the limiting guide pipe; the locking pin is arranged in the limiting guide pipe and rotates and linearly moves along the axial direction in the limiting guide pipe, the limiting peg in the limiting guide groove is arranged on the outer circumferential surface of the locking pin, and when the limiting peg is in the locking and limiting groove, the locking pin can be inserted into the pin hole of the counterweight block arranged in the installation position.

[0012] Further, the limiting guide groove further comprises an unlocking position limiting groove connected with the outer side end of the straight guide groove, and when the limiting peg is in the unlocking position limiting groove, the locking pin is away from the pin hole of the counterweight block arranged in the installation position.

[0013] Further, the driving mechanism comprises a linear actuator connected with the sliding seat and capable of driving the sliding seat to linearly move.

[0014] The utility model also provides a kind of underwater operation robot, which is equipped with the automatic counterweight device described above, and the underwater operation robot is equipped with a control mechanism connected with the driving mechanism of the automatic counterweight device.

[0015] As described above, the automatic counterweight device and the underwater operation robot 8 according to the utility model have the following beneficial effects:

[0016] 1. By setting the sliding seat, the driving mechanism, the counterweight block and the limiting locking mechanism, the counterweight block can be installed on the sliding seat as needed, and the counterweight block can be locked and fixed by the limiting locking mechanism, which is stable, flexible and convenient to install. During the use of the underwater operation robot and other equipment, the sliding seat can be moved to different positions by the driving mechanism, and the center of gravity of the counterweight block and the sliding seat can be automatically and flexibly adjusted, so as to adjust the overall center of gravity of the equipment. Compared with the existing method of temporarily disassembling and adjusting the position of the counterweight block 4 on site by manual labor, the method can remotely and automatically adjust the position, which is flexible and convenient to use.

[0017] 2. The sliding seat is provided with a plurality of installation positions and locking units, so that the appropriate number of counterweight blocks can be placed according to the counterweight needs, and the use is more flexible and convenient.

[0018] 3. The limiting locking mechanism is provided with a locking pin and a limiting guide pipe, which can conveniently and quickly lock and fix the counterweight block or unlock the counterweight block, and the installation and disassembly of the counterweight block are convenient and stable and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic view of the automatic counterweight device according to the utility model in state one.

[0020] Figure 2 Structure schematic view of the automatic counterweight device state two of the utility model.

[0021] Figure 3 Structure schematic view of the sliding seat and the limiting locking mechanism in the utility model.

[0022] Figure 4 Structure schematic view of the counterweight block installation locking in the utility model.

[0023] Figure 5 Working schematic view of the lock pin being inserted into the counterweight block and being limited in the utility model.

[0024] Figure 6 Working schematic view of the lock pin axial movement in the utility model.

[0025] Figure 7 Working schematic view of the lock pin being inserted into the counterweight block and being limited in the utility model.

[0026] Explanation of the drawing reference numerals

[0027] 1 fixed base

[0028] 2 sliding seat

[0029] 21 guide rod

[0030] 22 stop block

[0031] 3 drive mechanism

[0032] 4 counterweight block

[0033] 41 pin hole

[0034] 42 stop block

[0035] 5 locking unit

[0036] 51 limiting guide pipe

[0037] 511 straight line guide groove

[0038] 512 locking limiting groove

[0039] 513 unlocking position limiting groove

[0040] 52 lock pin

[0041] 521 limiting peg

[0042] 6 first limiting side plate

[0043] 7 second limiting side plate

[0044] 8 Underwater operating robot DETAILED DESCRIPTION

[0045] The following embodiments of the present application are described by specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification.

[0046] It should be understood that the structure, proportion, size, etc. shown in the drawings of the specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the implementation conditions of the present application, so they do not have technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and the like used in the specification are only for easy understanding and clarity, and are not used to limit the scope of the present application. The change or adjustment of the relative relationship without substantially changing the technical content is also considered as the scope of the present application.

[0047] Reference Figures 1 to 7 The present application provides an automatic counterweight device, comprising a fixed base 1 and a counterweight 4, further comprising a sliding seat 2, a driving mechanism 3 and a limiting and locking mechanism, the sliding seat 2 is movably installed on the fixed base 1, the driving mechanism 3 is installed on the fixed base 1 and connected with the sliding seat 2, and can drive the sliding seat 2 to move, the sliding seat 2 has a plurality of installation positions for accommodating the counterweight 4, and each installation position can be used for placing one counterweight 4, and the number thereof is preferably set to be multiple; the limiting and locking mechanism comprises a first limiting side plate 6 fixed to the sliding seat 2 and located beside the installation position, and a plurality of locking units 5 installed on the first limiting side plate 6, and each installation position is provided with a locking unit 5 for locking and fixing the counterweight 4, the locking unit 5 comprises a locking pin 52 movably installed on the first limiting side plate 6 and a locking and limiting assembly for limiting the position of the locking pin 52, the position of the locking pin 52 is fixed in the height direction of the sliding seat 2 and can move in the plane direction perpendicular to the height direction (i.e. in the length and width directions of the sliding seat 2), and the locking pin 52 preferably moves linearly along its axial direction; the counterweight 4 is provided with a pin hole 41, and when the counterweight 4 is placed in the installation position, the locking pin 52 of the corresponding limiting and locking mechanism can be inserted into the pin hole 41 of the counterweight 4, and when the locking pin 52 is inserted into the counterweight 4, the locking and limiting assembly can limit the position of the locking pin 52 so that the locking pin 52 cannot exit the pin hole 41, and the limiting and locking mechanism fixes the counterweight 4 on the sliding seat 2.

[0048] The basic working principle of the automatic counterweight device is that the automatic counterweight device can be used for various devices that need to adjust the gravity center, especially underwater robots that can be used for underwater operation. Figure 1 Taking the application on the underwater robot as an example, the fixed base 1 of the automatic counterweight device is fixedly installed on the underwater robot, wherein the height direction of the sliding seat 2 refers to the direction of itself, and is not a limitation on the installation direction of the device on which it works. According to the need, a corresponding number of counterweight blocks 4 are installed on the sliding seat 2, and the counterweight blocks 4 are locked and fixed by using the locking unit 5. Specifically, the installation positions in the sliding seat 2 can be set to N, and then 1-N counterweight blocks 4 are installed on the sliding seat 2 according to the need. Before the counterweight blocks 4 are placed, the locking pin 52 of the locking unit 5 is moved to the unlocking position, at this time, the locking pin 52 will not affect the placement of the counterweight blocks 4 to the installation position. After the counterweight blocks 4 are placed to the installation position, the locking pin 52 is moved to reach the locking position, at this time, the locking pin 52 is inserted into the pin hole 41 of the counterweight block 4 in the corresponding installation position, and the position of the locking pin 52 can be limited by the locking and limiting assembly so that the locking pin 52 cannot exit the pin hole 41. The counterweight blocks 4 are fixed to the sliding seat 2 by the limiting and locking mechanism. The installation of the counterweight blocks 4 is stable, flexible and convenient. The corresponding number of counterweight blocks 4 can be flexibly installed according to the actual need. After the underwater robot sinks into the water, when the gravity center needs to be adjusted, the driving mechanism 3 of the automatic counterweight device is controlled remotely to act, the sliding seat 2 is driven to move to different positions, thereby adjusting the positions of all the counterweight blocks 4 relative to the underwater robot, so as to realize the automatic adjustment of the gravity center.

[0049] Referring to Figures 1 to 7 The utility model is further described below with one specific embodiment:

[0050] In this embodiment, referring to Figure 3 and Figure 4As a preferred design, the first limiting side plates 6 are arranged on both sides of the installation position, and the counterweight 4 is located between the two first limiting side plates 6 when placed in the installation position, and has a proper gap. Specifically, the two sides of the installation position are the left and right sides of the installation position, two first limiting side plates 6 are arranged on the left and right sides of the sliding seat 2, and the installation position is located between the two first limiting side plates 6. When the counterweight 4 is placed on the sliding seat 2, the left and right sides of the counterweight 4 are respectively towards the two first limiting side plates 6, and has a proper gap. The left and right positions of the counterweight 4 are limited by the two first limiting side plates 6. At this time, the clearance fit can be adopted between the pin hole 41 and the locking pin 52. The locking pin 52 mainly limits the up-down position and the left-right position of the counterweight 4, so as to fix and lock the counterweight 4 on the sliding seat 2. In other embodiments, the threaded connection can also be adopted between the pin hole 41 and the locking pin 52. At this time, the first limiting side plate 6 and the locking pin 52 can also be arranged on only one side of the counterweight 4. The counterweight 4 is fixed by the threaded connection. Further, the second limiting side plates 7 are arranged on the front and rear sides of the sliding seat 2. The two first limiting side plates 6 and the two second limiting side plates 7 form a fence structure, and the counterweight 4 is installed in the fence structure to play a positioning and limiting role.

[0051] In the embodiment, referring to Figure 3 and Figure 4 As a preferred design, the pin holes 41 are arranged on the opposite sides of the counterweight 4, and the pin holes 41 on the two sides of the counterweight 4 are respectively towards the two first limiting side plates 6 when the counterweight 4 is placed in the installation position. The locking pin 52 of the locking unit 5 is multiple, and the locking pin 52 is arranged on the two first limiting side plates 6. Specifically, one locking pin 52 is arranged on each of the left and right first limiting side plates 6 in the embodiment, and one pin hole 41 is arranged on each of the left and right sides of the counterweight 4. Of course, multiple locking pins 52 and pin holes 41 can also be arranged on each side. Through the connection of the two sides, the counterweight 4 can be fixed more stably. Further, the installation positions on the sliding seat 2 are arranged along the height direction of the sliding seat 2, that is, multiple counterweights 4 can be stacked on the sliding seat 2. The locking unit 5 of the limiting and locking mechanism is multiple, and is arranged along the height direction and corresponds to each installation position at the height. When the counterweight 4 is installed, the counterweight 4 is first placed in the lower installation position, and then is placed one by one upwards. Of course, in other embodiments, multiple installation positions can also be arranged at the same height of the sliding seat 2.

[0052] In the embodiment, referring to Figure 3 and Figure 4As a preferred design, the slide 2 is provided with guide rods 21 which are vertically arranged, and the guide rods 21 are two or other numbers, and the counterweight 4 is provided with guide holes, and the guide holes are sleeved on the guide rods 21 when the counterweight 4 is placed on the slide 2, and the guide rods 21 are positioned by being sleeved on the guide rods 21, so that the counterweight 4 can be accurately placed on the mounting position, and the pin hole 41 is kept in alignment with the corresponding locking pin 52. Further, the top surface and the bottom surface of the counterweight 4 are respectively provided with a stop protrusion 42 and a stop recess, and the numbers thereof can be set according to the needs, and specifically, in the embodiment, one stop protrusion 42 is arranged on each of the left and right sides of the top surface of the counterweight 4, and one stop recess is arranged on each of the left and right sides of the bottom surface of the counterweight 4, and when the counterweights 4 are stacked, the stop protrusions 42 of the upper and lower adjacent counterweights 4 are inserted into the stop recesses, so as to play a clamping effect. The upper surface of the slide 2 is provided with a stop block 22, and when the lowermost counterweight 4 is placed, the stop recess on the bottom surface of the counterweight 4 is mounted on the stop block 22.

[0053] In the embodiment, referring to Figure 4 and Figure 5 , as a preferred design, the locking and limiting assembly of the locking unit 5 includes a limiting guide tube 51 fixed on the first limiting side plate 6, and a limiting guide groove is formed on the inner wall of the limiting guide tube 51, the limiting guide groove includes a straight guide groove 511 extending linearly along the axial direction of the limiting guide tube 51, and a locking and limiting groove 512 connected to the inner side end of the straight guide groove 511 (i.e. the end facing the counterweight 4), and the locking and limiting groove 512 extends along the circumferential direction of the limiting guide tube 51; the locking pin 52 is arranged in the limiting guide tube 51, and the limiting peg 521 on the outer circumferential surface of the locking pin 52 is located in the limiting guide groove, the locking pin 52 can rotate and axially move in the limiting guide tube 51, and cannot move in the height direction, and when the limiting peg 521 is located in the locking and limiting groove 512, the locking pin 52 is located at the locking position, and can be inserted into the pin hole 41 of the counterweight 4 placed on the mounting position, referring to Figure 5 . Further, the limiting guide groove further includes an unlocking position limiting groove 513 connected to the outer side end of the straight guide groove 511 (i.e. the end away from the counterweight 4), and when the limiting peg 521 is located in the unlocking position limiting groove 513, the locking pin 52 is located at the unlocking position, and is away from the pin hole 41 of the counterweight 4 placed on the mounting position, referring to Figure 7 . When the counterweight 4 is placed, the locking pin 52 is first rotated, so that the limiting peg 521 moves from the unlocking position limiting groove 513 to the straight guide groove 511, and then the locking pin 52 axially moves, and the limiting peg 521 moves along the straight guide groove 511, referring to Figure 6The locking pin 52 is inserted into the pin hole 41 of the counterweight 4, and then the locking pin 52 is rotated to move the limiting peg 521 from the straight guide groove 511 to the middle locking limiting groove 512, and the locking pin 52 cannot retreat in the natural state, so that the locking pin 52 is limited in the locking position and is stably inserted into the pin hole 41 of the counterweight 4. When the counterweight 4 needs to be removed, the locking pin 52 is installed with the above-mentioned reverse operation, so that the limiting peg 521 returns to the unlocking position limiting groove 513, and the operation is convenient.

[0054] In the embodiment, referring to Figure 1 and Figure 2 , as a preferred design, the driving mechanism 3 comprises a linear actuator connected with the sliding seat 2 and capable of driving the sliding seat 2 to move linearly, wherein the linear actuator can be a pneumatic cylinder, a hydraulic cylinder or an electric cylinder.

[0055] The utility model also provides a kind of underwater operation robot 8, wherein the above-mentioned automatic counterweight device is installed on the fixed component of robot by fixed base 1. For example, on the frame. When the automatic counterweight device is installed, it can be fixed at the upper surface of underwater operation robot 8, and the height direction of the automatic counterweight device itself is along the height direction of underwater operation robot 8, and the automatic counterweight device can also be installed at other positions and orientations of underwater operation robot 8. When underwater operation robot 8 is provided with a control mechanism, the control mechanism is connected with the driving mechanism 3 of the automatic counterweight device, and the driving mechanism 3 is controlled by the control mechanism of underwater operation robot 8, so that the automatic counterweight device realizes automatic adjustment action. The automatic counterweight device itself can also be controlled by a component, and is connected with the control mechanism of underwater operation robot 8 in communication, and can be directly connected with the central control system on water in communication.

[0056] As can be seen from the above, the automatic counterweight device and the underwater operation robot 8 have the following beneficial effects:

[0057] 1. By providing the sliding seat 2, the driving mechanism 3, the counterweight 4 and the limiting locking mechanism, the counterweight 4 can be installed on the sliding seat 2 as needed, and the counterweight 4 is locked and fixed by the limiting locking mechanism, so that the installation is stable, flexible and convenient. During the use of underwater operation robot 8 and other equipment, the sliding seat 2 is driven to move to different positions by the driving mechanism 3, and the center of gravity of the counterweight 4 and the sliding seat 2 is automatically and flexibly adjusted, so that the overall center of gravity of the equipment is adjusted. Compared with the existing method of temporarily disassembling and adjusting the position of the counterweight 4 on site by manual labor, remote automatic adjustment can be realized, and the use is flexible and convenient.

[0058] 2. The plurality of mounting positions and locking units 5 are arranged on the sliding seat 2, and the appropriate number of counterweight blocks 4 can be placed according to the requirement of the counterweight, so that the use is more flexible and convenient.

[0059] 3. The limiting and locking mechanism is provided with the locking pin 52 and the limiting guide pipe 51, so that the counterweight block 4 can be conveniently and quickly locked and fixed or unlocked, and the installation and dismounting of the counterweight block 4 are convenient, stable and reliable.

[0060] In summary, the utility model effectively overcomes the various shortcomings in the prior art and has a high industrial utilization value.

[0061] The above embodiments only exemplarily illustrate the principle and effects of the utility model, and are not used for limiting the utility model. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and category of the utility model. Therefore, all equivalent modifications or changes completed by those skilled in the art under the spirit and technical thought disclosed by the utility model should be covered by the claims of the utility model.

Claims

1. An automatic counterweight device comprising a fixed base (1) and a counterweight (4), characterized in that: The utility model also includes a sliding base (2), a driving mechanism (3) and a limiting locking mechanism, the sliding base (2) is movably installed on the fixed base (1), the driving mechanism (3) is installed on the fixed base (1) and is connected with the sliding base (2), can drive the sliding base (2) to move, the sliding base (2) has a plurality of installation sites for accommodating counterweight blocks (4), the limiting locking mechanism includes a first limiting side plate (6) fixed on the sliding base (2) and located beside the installation site and a plurality of locking units (5) installed on the first limiting side plate (6), each installation site is provided with a locking unit (5) for locking and fixing the counterweight block (4), the locking unit (5) includes a lock pin (52) movably installed on the first limiting side plate (6) and a locking limiting assembly for limiting the position of the lock pin (52), the position of the lock pin (52) is fixed in the height direction of the sliding base (2) and can move in the plane direction perpendicular to the height direction, the counterweight block (4) is provided with a pin hole (41), when the counterweight block (4) is placed in the installation site, the lock pin (52) of the corresponding limiting locking mechanism can be inserted into the pin hole (41) of the counterweight block (4), when the lock pin (52) is inserted into the counterweight block (4), the locking limiting assembly can limit the position of the lock pin (52) so that the lock pin (52) cannot exit the pin hole (41), and the limiting locking mechanism fixes the counterweight block (4) on the sliding base (2).

2. The automatic counterweight device of claim 1, wherein: The installation site is provided with a first limiting side plate (6) on both sides, and the counterweight block (4) is located between the two first limiting side plates (6) when placed in the installation site.

3. The automatic counterweight device of claim 2, wherein: The counterweight block (4) is provided with a pin hole (41) on both sides, and the pin holes (41) on both sides of the counterweight block (4) face the two first limiting side plates (6) when the counterweight block (4) is placed in the installation site, the lock pin (52) of the locking unit (5) is multiple, and the lock pin (52) is arranged on both first limiting side plates (6).

4. The automatic counterweight device according to claim 1 or 3, characterized in that: The installation sites on the sliding base (2) are arranged in the height direction of the sliding base (2), and multiple counterweight blocks (4) can be stacked, the locking units (5) of the limiting locking mechanism are multiple and arranged in the height direction.

5. The automatic counterweight device of claim 4, wherein: The sliding base (2) is provided with a guide rod (21), the counterweight block (4) is provided with a guide hole, and the guide hole is sleeved on the guide rod (21) when the counterweight block (4) is placed on the sliding base (2).

6. The automatic counterweight apparatus of claim 4, wherein: The top surface and the bottom surface of the counterweight block (4) are respectively provided with a stop protrusion (42) and a stop groove, and the stop protrusions (42) of the upper and lower adjacent counterweight blocks (4) are inserted into the stop grooves when the counterweight blocks (4) are stacked.

7. The automatic counterweight apparatus of claim 1, wherein: The locking and limiting assembly of the locking unit (5) comprises a limiting guide pipe (51) fixed on the first limiting side plate (6), a limiting guide groove is formed on the inner wall of the limiting guide pipe (51), the limiting guide groove comprises a straight guide groove (511) extending linearly along the axial direction of the limiting guide pipe (51), and a locking and limiting groove (512) connected with the inner side end of the straight guide groove (511) towards the installation position, the locking and limiting groove (512) extends along the circumferential direction of the limiting guide pipe (51); the locking pin (52) is arranged in the limiting guide pipe (51), and the locking pin (52) rotates and linearly moves along the axial direction in the limiting guide pipe (51), the outer circumferential surface of the locking pin (52) is provided with a limiting peg (521) located in the limiting guide groove, and when the limiting peg (521) is located in the locking and limiting groove (512), the locking pin (52) can be inserted into the pin hole (41) of the counterweight (4) placed in the installation position.

8. The automatic counterweight device of claim 7, wherein: The limiting guide groove further comprises an unlocking position limiting groove (513) connected with the outer side end of the straight guide groove (511), and when the limiting peg (521) is located in the unlocking position limiting groove (513), the locking pin (52) is away from the pin hole (41) of the counterweight (4) placed in the installation position.

9. The automatic counterweight apparatus of claim 1, wherein: The driving mechanism (3) comprises a linear actuator connected with the sliding seat (2) and capable of driving the linear movement of the sliding seat (2).

10. An underwater operating robot (8) characterized by: The underwater operation robot (8) is provided with a control mechanism connected with the driving mechanism (3) of the automatic counterweight device.

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