CN114337159A

CN114337159A - Motor type online automatic balancing device capable of being mounted through shaft

Info

Publication number: CN114337159A
Application number: CN202111540135.3A
Authority: CN
Inventors: 潘鑫; 张馨; 吴海琦; 高金吉; 江志农
Original assignee: Beijing University of Chemical Technology
Current assignee: Beijing University of Chemical Technology
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2022-04-12
Anticipated expiration: 2041-12-15
Also published as: CN114337159B

Abstract

The invention discloses a motor type online automatic balancing device capable of being mounted through a shaft, wherein a gear part is driven by a motor output end of the motor type online automatic balancing device, torque is transmitted to a gear ring through two planetary gears together, a counterweight disc is driven to rotate, and mass distribution in the device is changed to realize automatic balancing. The invention relates to a motor type online automatic balancing device which is mainly divided into a first component and a second component, wherein the first component can act independently under the operation working condition of the device, and the second component can rotate along with a balanced rotor. This online automatic balancing device can be through aggravating and the heavy dual mode of going, and the size of its balancing weight can be adjusted according to the difference of using the operating mode, and application range is more extensive. The motor type online automatic balancing device is of a hollow structure as a whole, can be mounted in a shaft, and is more flexible in mounting position selection when applied to a balanced rotor system.

Description

Motor type online automatic balancing device capable of being mounted through shaft

Technical Field

The invention relates to a device for inhibiting rotor vibration and ensuring stable operation of a rotor, in particular to a motor type online automatic balancing device which can be installed through a shaft and can reduce system vibration by driving a balancing weight by an ultrasonic motor device.

Background

The rotor is one of the important parts in various types of rotary machines, and vibrations are generated during operation, and vibrations caused by unbalance of the rotor are common faults. The original solution is to stop the machine and then perform off-line calibration, which is difficult to implement, not only inefficient, but also causes certain time cost and economic loss. With the development of equipment, automation and intellectualization are gradually carried out, an online automatic balancing technology capable of inhibiting unbalanced vibration of a rotor on line is rapidly developed, and the online automatic balancing technology is mainly used in the fields of machine tool spindles, grinding machines and the like.

Common balancing modes of the online automatic balancing device include a motor type, a liquid injection type, an electromagnetic slip ring type and the like. The motor type product almost occupies the whole share of the automatic balance market in the field of grinding machines at present due to the advantages of no complex auxiliary system, simple operation, high balance speed and the like. The motor type automatic balancing device is a balancing device which changes mass distribution in the device by driving a balancing mass block through a motor so as to inhibit unbalanced vibration of a rotor. The device is originally proposed by Van DeVegte in 1964, two motors powered by carbon brush slip rings are adopted to realize online controllable rotation of the balancing weight through worm and gear transmission and an internal and external gear ring structure, but a transmission system is complex, the processing difficulty is high, the balancing weight can only be installed in a shaft and at the shaft end, and the balancing weight is not suitable for occasions needing shaft penetrating installation. The permanent magnet difference frequency motor driving balancing device provided by Harbin industry university uses two movable trolleys as two counterweight masses, and the device has high requirement on the measurement precision of the rotor rotating speed, occupies a large space, and has certain limitation in practical application. In order to simplify the transmission structure of the motor type balancing device, the university of the western-style public transportation has designed a piezoelectric type online dynamic balance executing device (patent number CN108134537A) which can be installed inside a rotor, and the transmission of energy between a stator and a rotor is realized through a piezoelectric effect, so as to drive the movement of a counterweight mass in a movable disk; beijing university of chemical industry has designed an integrated ultrasonic motor automatic balancing unit (patent number CN110768453A) that can be used to axle head installation, directly drives the balancing weight rotation through ultrasonic motor in order to form the compensation quality. However, no report is found about a motor type automatic balancing device capable of penetrating a shaft.

Therefore, compared with the traditional motor type balancing device, the novel motor type automatic balancing device capable of being installed in a shaft penetrating mode is designed, a transmission system such as a worm gear and a worm is omitted, the manufacturing difficulty of the device is greatly simplified, the balancing weight can be driven to rotate in a stepping mode through the combination of a plurality of ultrasonic motors, the balancing capacity of the device is effectively improved, the controllable stepping angle of the device is effectively reduced through the gear transmission mechanism between the motors and the balancing weight, and the balancing precision of the device is further improved.

Disclosure of Invention

The invention aims to provide a novel motor type online automatic balancing device capable of realizing shaft penetrating installation.

1) The selected ultrasonic motor can provide self-locking torque under the condition that the motor does not operate through the action of friction between the stator and the rotor, and the fixing of the balancing weight can be realized. Therefore, compared with the traditional motor type balancing device, the motor type balancing device has the advantages that a transmission system such as a worm gear and a worm is omitted, the manufacturing difficulty of the device is greatly simplified, and the size of the product is reduced;

2) the balancing weight can be driven to rotate step by combining a plurality of ultrasonic motors, the balancing capacity of the device can be effectively improved under the condition of meeting the self balance of the device, and the ultrasonic motors at the left part and the right part are arranged in a staggered and uniform manner along the circumferential direction, so that the axial installation space of the balancing device is effectively saved;

3) the controllable stepping angle of the device is effectively reduced through the gear transmission mechanism between the motor and the balancing weight, and the balance precision of the device is further improved;

4) the eccentric mass forming mode has two modes, namely a semicircular annular eccentric balancing weight is arranged on the side surface of the balancing weight disc, punching is carried out on one side of the balancing weight disc to remove the weight, and the eccentric mass synthesized by the left and right balancing weight discs is used for forming a correction mass to compensate the initial unbalance amount of the measured rotor;

6) the control mode of the ultrasonic motor has two types: one is to realize the dynamic and static transmission of control signals by utilizing a slip ring structure; the other type can install a rechargeable battery and a control module capable of wirelessly receiving control signals in the device to realize the wireless transmission of control instructions.

The invention relates to a motor type online automatic balancing device capable of being mounted through a shaft, wherein a gear part is driven by a motor output end of the motor type online automatic balancing device, torque is transmitted to a gear ring through two planetary gears together, a counterweight disc is driven to rotate, and mass distribution in the device is changed to realize automatic balancing.

The invention relates to a motor type online automatic balancing device capable of being mounted through a shaft, which is divided into a first component and a second component; the first assembly and the second assembly are connected through a bearing 19 and assembled in gear engagement.

The first component is a component which can independently act under the operation condition of the device and consists of a gear part and a counterweight part. The gear parts comprise planet gears 14 and an inner gear ring 13; the counterweight portion includes a counterweight plate 11 and a counterweight 10. The first assembly drives the counterweight portion to rotate through the engagement of the gear components, so that the counterweight block 10 reaches a target phase.

The counterweight part in the first component is fixedly connected with the inner gear ring 13 through a plurality of uniformly distributed bolts, so that the counterweight part can be driven to rotate. The counterweight 10 in the counterweight part is in a semicircular ring shape, and the side surface of the counterweight 10 is directly contacted with the counterweight plate 11 and fixedly connected through threads. I.e. the weight 10, the weight plate 11 and the annulus gear 13 are fixed and do not move relative to each other. Wherein the thickness of the weight 10 is adjusted according to the required balancing capacity. The end surfaces of the counterweight plate 11 and the inner gear ring 13 are in a double-spigot centering connection structure, the two end surfaces are respectively provided with a convex spigot and a concave spigot, cylinders of the double spigots are in close clearance fit with holes, and the two end surfaces are tightly attached and fastened through a circle of uniformly distributed screws. The bearing hole of the counterweight plate 11 is tightly matched with the outer circular surface of the bearing 9 and is in interference connection. When the online automatic balancing device is in an operating state, the balanced rotor rotates, so that the rolling bearing is adopted to connect the first component and the second component, and the counterweight part is supported.

The two chambers in the first assembly are similar in structure and are mounted in mirror image with the center of the "I" shaped skeletal shell 4 as a plane of symmetry. The outer diameter of the inner gear ring 13 in the first component is larger than that of a standard component, and uniformly distributed threaded holes are formed in the position, with the diameter larger than that of the root circle, of the reference circle. The first component is integrally connected to the motor shaft at the planet wheel position by a key 12, and the length of the key cannot exceed the thickness of the planet wheel 14. The motor shaft and the planet wheel 14 are in interference fit, and a key groove structure is arranged on the mutual matching surface of the motor shaft and the planet wheel. The planet gears 14 transmit torque through gear engagement, and the whole balance weight part is driven to rotate. The motor shaft is a stepped shaft, and in addition to the splined shaft for connection to the pinion, a shoulder structure is provided to axially secure the planet gears 14 against play. The side of the motor shaft close to the motor 16 is provided with a certain axial distance, so that enough space is reserved for bolts to prevent collision between parts when the device runs. In the left chamber, the axial positioning between the bearing 19 of the counterweight part and the end face of the motor drive 8 is done by means of the stepped sleeve 9, and in the right chamber the positioning is done by means of the flat sleeve 20. On one hand, the contact between the two is prevented, and the balance effect of the whole device is influenced; on the other hand, the size or the thickness of the balancing weight 10 can be changed, and the balancing capacity of the device can be adjusted according to the operation condition of the balanced rotor 22.

The invention relates to a motor type online automatic balancing device which is provided with two cavities respectively corresponding to the spaces of two correction surfaces. As shown in fig. 3, the apparatus is provided with a plurality of motors. Taking two motors as an example, the motor 16a and the motor 16b are located in a chamber in which the correction I surface is located, and the other in a chamber in which the correction II surface is located. The two correction surfaces are the positions of the center of gravity of the balance weight, and the two sets of balance weight parts are supported by the bearings 19. The mounting position of the motor is reserved in the partition plate structure of the I-shaped framework shell 4, the motor is fixed in a threaded fastening mode through embedding partition plates, and the center distance of each motor embedded partition plate is determined by the center distance of the gear transmission system. The center of the clapboard is provided with a round hole, and the diameter of the round hole is larger than that of the outer circle surface of the rotor in order to avoid the collision caused by the contact with the outer circle surface of the rotor.

In the first assembly, the eccentric mass forming mode has two types of weighting and de-weighting, namely a semicircular annular eccentric balancing weight 10 is arranged on the side surface of the balancing weight disc 11, or the side surface of the balancing weight disc 11 is punched to remove the weight, and the eccentric mass synthesized by the left and the right balancing weight discs forms a correction mass to compensate the initial unbalance of the measured rotor.

The second component is a component which is fixedly connected with the balanced rotor 22 and rotates along with the balanced rotor 22 during the operation of the device, and consists of a shell part, the motor driver 8 and the motor 16. The housing portion is composed of a drive-side housing 1, an "I" -shaped skeletal housing 4, and an end cap 5. The driver side shell 1 is provided with an interval space while wrapping the motor driver, and a wiring hole is arranged at the position corresponding to the power interface of the driver. The driver-side housing 1 is provided with a screw hole on the outer circumferential surface of the smallest diameter for fixed connection with the balanced rotor 22; a plurality of threaded holes are uniformly distributed on the maximum outer circular surface and are relatively fixed with the I-shaped framework shell 4 through bolt connection; and the largest outer circular surface is provided with a mounting through hole corresponding to the motor wire hole of the driver, and the aperture of the mounting through hole must ensure that the motor wire can smoothly pass through to be connected to the motor. The smallest inner circle surface of the shell structure is matched with the rotor, the largest inner circle surface is matched with the outer side of the motor driver, and no relative motion exists between the contact surfaces. The I-shaped framework shell 4 is the shell with the longest axial direction in the whole device, and the section is I-shaped after being cut along the surface passing through the axial center. This shell structure has three side to contact with driver side shell 1, driver 8 and end cover 5 respectively, and corresponding position department sets up the screw hole of equipartition, sets up the installation through-hole of motor line in the excircle face, makes the motor line of driver kneck be connected to corresponding motor position department along the position of installation through-hole. Likewise, corresponding threaded holes are provided in the "I" shaped bobbin housing 4 for fixing the position of the motor 16.

The second assembly part also comprises a motor driver 8, and the overall structure of the motor driver 8 is circular, so that the size is reduced as much as possible under the condition of ensuring that the functions of the circuit board can be realized. The motor driver 8 is provided with mounting through holes distributed at equal intervals at a circular ring connected with the I-shaped framework shell. The driving end interface of the motor wire is arranged on the excircle surface of the motor driver 8, and the driving end interface of the power wire is arranged on the left end surface of the driver. The smallest inner circumferential surface of the motor driver 8 is provided with a certain clearance for collision prevention between the rotor and the rotor, and is not in direct contact.

The motor type online automatic balancing device capable of being mounted through the shaft is connected with a power supply on the left side or the right side of the second assembly. There are two ways to connect electricity: one is to connect wires to the battery through corresponding wiring holes to provide power to the drive, and the other is to mount a slip ring structure. The rotor end of the slip ring 21 is fixedly connected with the balanced rotor 22, and the rotor outlet wire is connected to the motor driver 8; the stator outlet wire is connected to a fixed power supply. The motor 16 is a miniature ultrasonic motor. Under the operation condition of the device, the inside of the motor converts the micro-mechanical vibration generated by inverse piezoelectric effect into rotary motion of the motor shaft, and then the torque is transmitted through the transmission system to drive the balancing weights corresponding to the two planes to rotate, so that the step number and the rotation angle of the two balancing weights are adjusted, the synthesized balance vector compensates the unbalanced vector generated by the balanced rotor 22, and the effect of inhibiting the rotor from generating unbalanced vibration in time is achieved.

The motor type online automatic balancing device capable of being mounted through the shaft is directly driven by the ultrasonic motor, and a complex auxiliary device is not required to be additionally added. The selected ultrasonic motor provides self-locking torque under the non-operation condition through the friction force between the stator and the rotor, and the fixing of the balancing weight can be realized. Therefore, compared with the traditional motor type balancing device, the motor type balancing device has the advantages that a transmission system such as a worm gear and a worm is omitted, the manufacturing difficulty of the device is greatly simplified, and the size of the product is reduced.

Meanwhile, the key point of the design of the invention lies in that the transmission system of the driving gear is combined by a plurality of ultrasonic motors, so that the balance capability of the device is effectively improved; the structure can effectively reduce the controllable stepping angle of the device, and further improve the balance precision of the device.

The motor type online automatic balancing device capable of being mounted through the shaft can realize compensation of unbalance amount through two modes of weighting and de-weighting, the size of the balancing weight can be adjusted according to different application working conditions, and the application range is wider.

The motor type online automatic balancing device capable of being mounted through the shaft is of a hollow structure integrally, can be mounted in the shaft, and is more flexible in mounting position selection when applied to a balanced rotor system.

The device has the advantages of simple structure, small overall size, modular installation, no need of destroying the original structure of a balanced rotor and the integrity of equipment of the balanced rotor during installation, no change of partial size parameters under the structural premise designed by the device during actual operation, and good structural adaptability.

Drawings

Fig. 1 is a general structural design diagram of a motor type on-line automatic balancing device capable of being mounted through a shaft according to the invention.

Fig. 2 is a half-sectional view of a core structure of the motor type on-line automatic balancing device capable of being mounted through a shaft.

Fig. 3 is a structural design diagram of a gear driving part of the motor type online automatic balancing device capable of being mounted through a shaft.

Fig. 4 and 5 are schematic diagrams illustrating the formation of the eccentric mass of the motor type online automatic balancing device capable of being mounted through the shaft according to the invention. FIG. 4 illustrates an eccentric mass forming schematic a; fig. 5 eccentric mass forming schematic b.

In the figure: 1. driver side shell, 4, "I" type skeleton shell, 5, end cover, 8, motor driver, 9, ladder sleeve, 10, balancing weight, 11, balance weight disk, 12, key, 13, inner gear ring, 14, planet wheel, 16, motor, 19, bearing, 20, flat sleeve, 21 slip ring, 22 balanced rotor

Detailed Description

Referring to fig. 1, a general structural schematic diagram of a motor-type online automatic balancing device capable of being mounted through a shaft according to the present invention is mainly composed of a first assembly, a second assembly and a sliding ring structure. The invention is explained in more detail below with reference to the figures and examples:

referring to fig. 2, the counterweight 10 is fixed in the end face groove reserved in the counterweight plate 11 by threaded connection, and the two rolling bearings 19 are respectively connected to the bearing holes of the left and right counterweight plates in an interference manner. And the other side of the counterweight plate 11 is fixedly provided with an annular gear 13 through a circle of uniformly distributed threads, and two end faces are tightly attached and adopt a double-spigot centering connection mode. Namely, the counterweight plate 11, the counterweight 10 and the inner gear ring 13 are fixed and do not move relatively. As shown in fig. 3, the planetary gear 14 is fixed to the output shaft of the motor 16 through a key 12. The device adopts the structure that two left and right cavities are symmetrical, as power device's a plurality of motors 16, divide into two sets of the same quantity and install back to back in "I" type skeleton casing 4 left and right cavity, and the equal interval distribution in circumference, come the fixed position through the baffle structure of embedding "I" type skeleton casing. Then, motors 16 with planet wheels 14 are respectively arranged in the cavities at the left side and the right side of the I-shaped framework shell 4.

Firstly, a bearing 19 with a counterweight part and an inner gear ring 13 is fixedly connected on a shaft of a balanced rotor 22, an end cover 5 is installed after a flat sleeve 20 is sleeved to complete axial positioning, and the outer circular surface of the end cover 5 is fixedly connected through a circle of uniformly distributed threads. The I-shaped framework shell 4 with the motor 16 and the planet wheels 14 is sleeved from the other end and is fixedly connected with the end surface of the end cover 5 through threads. The balance weight part, the inner gear ring 13 and the bearing 19 in the left chamber are connected by the same method, and are sleeved into the stepped sleeve 9 to realize axial positioning. Then, a motor driver 8 is assembled and fixed on the left side of the I-shaped framework shell 4 through uniformly distributed threaded holes of the outer ring. And finally, the side shell 1 of the driver is sleeved, the structure of the side shell is consistent with that of the end cover 5, a plurality of threaded holes are uniformly distributed on the minimum outer circumferential surface in a circle, and the side shell is fixedly connected with the balanced rotor 22 through threads in a fastening mode. During the installation process, the corresponding positions of the two parts of wiring holes are noticed, namely the motor wiring and the power supply wiring. After the installation is finished, the online automatic balancing device is debugged, the safe starting of the device is ensured, and the required balancing effect is achieved.

The above-described embodiments of the present invention are preferred embodiments of the present apparatus, and are not intended to limit the scope of the present invention.

Claims

1. The utility model provides a but online automatic balancing unit of motor formula of axle installation which characterized in that: comprises a first component and a second component; the first component and the second component are connected through a bearing (19) and are assembled in a gear engagement way;

the first component is composed of a gear part and a counterweight part; the gear part comprises a planet gear (14) and an inner gear ring (13); the counterweight part comprises a counterweight plate (11) and a counterweight block (10); the first component drives the counterweight part to rotate through the meshing of the gear parts, so that the counterweight block (10) reaches a target phase;

the second component is a component which is fixedly connected with the balanced rotor (22) and rotates along with the balanced rotor (22) in the operation process of the device and consists of a shell part, a motor driver (8) and a motor (16); the shell part consists of a driver side shell (1), an I-shaped framework shell (4) and an end cover (5); the driver side shell (1) is provided with a wiring hole at a position corresponding to a power interface of the driver; the driver side shell (1) is provided with a threaded hole on the outer circular surface with the smallest diameter and is used for being fixedly connected with a balanced rotor (22); a plurality of threaded holes are uniformly distributed on the maximum outer circular surface and are relatively fixed with the I-shaped framework shell (4) through bolt connection; and the largest outer circular surface is provided with an installation through hole corresponding to a motor wire hole of the motor driver; the smallest inner circle surface of the shell structure is matched with the rotor, the largest inner circle surface is matched with the outer side of the motor driver, and no relative motion exists between the contact surfaces.

2. The shaft-mountable motor-type online automatic balancing device as claimed in claim 1, wherein: the shell part is provided with three side surfaces which are respectively contacted with the driver side shell (1), the motor driver (8) and the end cover (5), threaded holes which are uniformly distributed are arranged at corresponding positions, and installation through holes of motor wires are arranged in the outer circular surface, so that the motor wires at the interface of the motor driver are connected to the corresponding motor positions along the positions of the installation through holes; corresponding threaded holes are formed in the I-shaped framework shell (4) and used for fixing the motor (16).

3. The shaft-mountable motor-type online automatic balancing device as claimed in claim 1, wherein: the counterweight part in the first component is fixedly connected with the inner gear ring (13) through a plurality of uniformly distributed bolts and can drive the counterweight part to rotate; the counterweight block (10) in the counterweight part is semicircular, and the side surface of the counterweight block (10) is directly contacted with the counterweight plate (11) and fixedly connected with the counterweight plate through threads; the thickness of the balancing weight (10) is adjusted according to the required balancing capacity; the end surfaces of the counterweight plate (11) and the inner gear ring (13) are in a double-spigot centering connection structure, the two end surfaces are respectively a convex spigot and a concave spigot, a cylinder of the double spigot and the hole are in close clearance fit, and the two end surfaces are tightly attached and fastened through a circle of uniformly distributed screws; the bearing hole of the counterweight plate (11) is in interference fit with the outer circular surface of the bearing (9); when the online automatic balancing device is in an operating state, the balanced rotor rotates, the rolling bearing is adopted to connect the first component and the second component, and meanwhile, the counterweight part is supported.

4. The shaft-mountable motor-type online automatic balancing device as claimed in claim 1, wherein: in the structure of two chambers in the first component, the center of an I-shaped framework shell (4) is taken as a symmetrical mirror for image installation; the inner gear ring (13) in the first component is provided with uniformly distributed threaded holes by taking the position with the diameter larger than the diameter of the root circle as a reference circle; the first component is integrally connected with a motor shaft at the position of the planet wheel through a key (12), and the length of the key does not exceed the thickness of the planet wheel (14); the motor shaft and the planet wheel (14) are in interference fit, and a key groove structure is arranged on the mutual matching surface of the motor shaft and the planet wheel; the planet wheel (14) transmits torque through gear engagement to drive the whole counterweight part to rotate; the motor shaft is a step shaft, and a shaft shoulder structure is arranged to axially fix the planet gear (14) to prevent play; a certain axial distance is reserved on one side of the motor shaft close to the motor (16), and enough space is reserved for the bolt to prevent collision between parts when the device runs; in the left chamber, the axial positioning between the bearing (19) of the counterweight part and the end face of the motor driver (8) is completed through a stepped sleeve (9), and the positioning in the right chamber is completed by a flat sleeve (20).

5. The shaft-mountable motor-type online automatic balancing device as claimed in claim 1, wherein: the motor type online automatic balancing device is provided with two cavities which respectively correspond to the spaces of the two correction surfaces; two motors are arranged, a first motor (16a) and a second motor (16b) are arranged in a chamber in which a correction I surface is positioned, and the other group is arranged in a chamber in which a correction II surface is positioned; the two correction surfaces are the positions of the gravity centers of the balance weights, and two groups of balance weight parts are supported by a bearing (19); the mounting position of a motor is reserved in a partition plate structure of the I-shaped framework shell (4), a first motor (16a) and a second motor (16b) are fixed in a threaded fastening mode by embedding partition plates, and the distance between the centers of the embedded partition plates of each motor is determined by the center distance of a gear transmission system; a round hole is formed in the center of the partition plate, and the diameter of the round hole is larger than that of the outer circular surface of the rotor.

6. The shaft-mountable motor-type online automatic balancing device as claimed in claim 1, wherein: in the first assembly, the eccentric mass forming mode has two types of weighting and de-weighting, namely a semicircular annular eccentric counterweight block (10) is arranged on the side surface of a counterweight plate (11), or a hole is punched on one side of the counterweight plate (11) to remove the weight, the eccentric mass synthesized by the left counterweight plate and the right counterweight plate forms a correction mass, and the initial unbalance of the measured rotor is compensated.

7. The shaft-mountable motor-type online automatic balancing device as claimed in claim 1, wherein: the motor driver (8) is in a ring shape.

8. The shaft-mountable motor-type online automatic balancing device as claimed in claim 1, wherein: the motor driver (8) is provided with mounting through holes which are distributed at equal intervals at a circular ring connected with the I-shaped framework shell; the driving end interface of the motor wire is arranged on the excircle surface of the motor driver (8), and the driving end interface of the power wire is arranged on the left end surface of the driver; a certain clearance is arranged between the minimum inner circular surface of the motor driver (8) and the rotor for preventing collision, and the clearance is not in direct contact with the rotor.

9. The shaft-mountable motor-type online automatic balancing device as claimed in claim 1, wherein: the power is connected to the side part of the second assembly in two power connection modes: one is to connect the lead wire to the battery through the corresponding wiring hole to provide power for the driver, and the other is to install a slip ring; the rotor end of the slip ring (21) is fixedly connected with the balanced rotor (22), and the rotor outlet wire is connected to the motor driver (8); the stator outlet wire is connected to a fixed power supply.

10. The shaft-mountable motor-type online automatic balancing device as claimed in claim 1, wherein: the motor (16) adopts a micro ultrasonic motor; the inside of the motor converts micro-mechanical vibration generated by inverse piezoelectric effect into rotary motion of a motor shaft, and then torque is transmitted through a transmission system to drive the balancing weights corresponding to the two planes to rotate so as to adjust the step number and the rotation angle of the two balancing weights, so that the synthesized balance vector compensates the unbalanced vector generated by the balanced rotor (22), and the rotor is restrained from generating unbalanced vibration in time.