Dynamic balancing monitoring system and dynamic balancing monitoring method

Abstract

The present invention discloses a dynamic balancing monitoring system and method, comprising: a control unit; a drive device coupled to the control unit; a rotating member; a dynamic balancing device; a first sensor; and a second sensor. The control unit calculates the imbalance of the rotating member based on the first and second sensing signals, and the control unit calculates the first and second equilibrium positions of the first and second balancing units using the imbalance of the rotating member and / or the dynamic balancing device. The control unit drives the first braking mechanism via the first braking unit to control the first balancing unit to rotate to the first equilibrium position, and then drives the second braking mechanism via the second braking unit to control the second balancing unit to rotate to the second equilibrium position. The power generated by the rotation of the machine spindle drives two eccentric rings to achieve automatic dynamic balancing.

Description

Technical Field

[0001] The present invention relates to the field of vibration monitoring technology, and in particular to a rotating spindle eccentric vibration monitoring system and a dynamic balance monitoring method, which can be arranged on the rotating spindle of a machine to achieve dynamic balance monitoring. Background Art

[0002] The development of the machine tool industry (generally referring to machine tools) centers on tools with rotating spindles, such as grinders, lathes, and milling machines. However, during the machining process, uneven material quality and errors arising from machining and assembly often cause the rotating spindle of a machine tool to become eccentric. This eccentric force is generated during rotation and transmitted to the machining surface and the machine table via the support bearings. This can cause abnormal vibration or noise, reduce machining accuracy, and significantly shorten the machine tool's service life.

[0003] When eccentricity occurs (for example, due to uneven mass distribution caused by wear and spalling of the grinding wheel on a grinding machine), radial vibration will occur along the rotating shaft. One method of correcting eccentricity is to use a gear grinder and dynamic balancing technology to correct the eccentricity of the grinding wheel. This method requires first stopping the machine and measuring the eccentricity and position of the grinding wheel. The grinding wheel is then properly repaired to achieve dynamic balance. Another method is to use an active dynamic balancing device commonly used on the market. This device analyzes the system vibration signal to calculate the eccentricity and position, and automatically places the correction mass in a phase opposite to the eccentric position to achieve dynamic balance of the system.

[0004] Generally speaking, existing technologies present the following challenges: 1. Complex system construction, large size, and numerous components, requiring high precision in manufacturing and assembly, resulting in high costs and prices; 2. Technically, motors and gears are often assembled on a rotating shaft, resulting in centrifugal forces that limit the maximum rotational speed; 3. The electrical transmission connectors in the system are susceptible to damage from cutting fluids, especially highly corrosive ones. Therefore, developing a vibration monitoring system that effectively overcomes the existing problems of requiring machine downtime for calibration or additional power supply control, while also being simple in structure and assembly, is a pressing need. Summary of the Invention

[0005] Based on the above, the present invention provides a dynamic balancing monitoring system and method. The system utilizes the power generated by the rotation of a machine spindle to drive two balancing units to achieve automatic dynamic balancing. The overall dynamic balancing device eliminates the need for actuators and gear trains, significantly reducing costs. The system also features a simple structure, easily controlled assembly precision, high mechanical reliability, and a high permissible rotational speed.

[0006] In order to achieve the above object, the present invention provides a dynamic balance monitoring system, which includes:

[0007] control unit;

[0008] a driving device coupled to the control unit;

[0009] a rotating member coupling the control unit and the driving device;

[0010] a dynamic balancing device coupled to the rotating member and driven by the power of the rotating member; the dynamic balancing device comprising a first braking unit, a first braking mechanism, a second braking unit, a second braking mechanism, a first balancing unit, a second balancing unit, and a third sensor;

[0011] a first sensor coupled to the rotating member or the dynamic balancing device; when the rotating member drives the dynamic balancing device to operate, the first sensor senses a first sensing signal associated with the rotating member and the dynamic balancing device, and the first sensor transmits the first sensing signal to the control unit;

[0012] a second sensor coupled to the rotating member or the dynamic balancing device; when the rotating member drives the dynamic balancing device to operate, the second sensor senses a second sensing signal associated with the rotating member or the dynamic balancing device, and the second sensor transmits the second sensing signal to the control unit;

[0013] The control unit calculates an unbalance amount of the rotating component based on the first sensing signal and the second sensing signal, and calculates a first equilibrium position and a second equilibrium position of the first balancing unit and the second balancing unit using the unbalance amount of the rotating component and / or the dynamic balancing device;

[0014] The control unit monitors the positions of the first balancing unit and the second balancing unit through the third sensing signal of the third sensor. The control unit drives the first braking mechanism through the first braking unit to control the first balancing unit to rotate to the first balancing position, and then drives the second braking mechanism through the second braking unit to control the second balancing unit to rotate to the second balancing position, so as to achieve dynamic balance.

[0015] Optimally, the rotating component is provided with a rotating shaft and a grinding device, the grinding device is coupled to the rotating shaft, and the rotating shaft drives the grinding device.

[0016] Optimally, the first sensor is a vibration sensor, the first sensing signal is the vibration value of the rotating component and the dynamic balancing device, the second sensor is an encoder, and the second sensing signal is the rotation angle of the rotating component or the dynamic balancing device.

[0017] Optimally, the first balancing unit and the second balancing unit of the dynamic balancing device are disposed on an extension shaft, and the power generated by the rotating component drives the extension shaft and simultaneously drives the first balancing unit and the second balancing unit.

[0018] Optimally, after the control unit calculates the first equilibrium position of the first balancing unit and the second equilibrium position of the second balancing unit based on the first sensing signal and the second sensing signal, the control unit will issue a first control command and a second control command to the first braking unit and the second braking unit respectively to control the first braking mechanism and the second braking mechanism, and the control unit drives the driving device to control the rotating component to rotate to the corresponding position.

[0019] Optimally, the first braking mechanism and the second braking mechanism of the dynamic balancing device use a friction mechanism to control the positions to which the first balancing unit and the second balancing unit should rotate; or, the first braking mechanism and the second braking mechanism of the dynamic balancing device use a mechanism latch to control the positions to which the first balancing unit and the second balancing unit should rotate.

[0020] Optimally, the dynamic balancing device further includes a fourth sensor, and the control unit monitors and controls the first balancing unit to rotate to the first balancing position and the second balancing unit to rotate to the second balancing position respectively through the third sensing signal of the third sensor and the fourth sensing signal of the fourth sensor.

[0021] Another object of the present invention is to provide a dynamic balance monitoring method, comprising the following steps:

[0022] The dynamic balancing device is coupled to a rotating member and is driven by the power of the rotating member. The rotating member is controlled and driven by a control unit and a driving device. The dynamic balancing device includes a first braking unit, a first braking mechanism, a second braking unit, a second braking mechanism, a first balancing unit, a second balancing unit, and a third sensor.

[0023] The control unit calculates an unbalance amount of the rotating component and / or the dynamic balancing device based on a first sensing signal and a second sensing signal respectively sensed by a first sensor and a second sensor coupled to the rotating component or the dynamic balancing device, and calculates a first balanced position and a second balanced position of the first balancing unit and the second balancing unit using the unbalance amount of the rotating component and / or the dynamic balancing device;

[0024] The control unit monitors the positions of the first balancing unit and the second balancing unit through the third sensing signal of the third sensor. The control unit drives the first braking mechanism through the first braking unit to control the first balancing unit to rotate to the first balancing position, and then drives the second braking mechanism through the second braking unit to control the second balancing unit to rotate to the second balancing position, so as to achieve dynamic balance.

[0025] Optimally, the first sensor is a vibration sensor, the first sensing signal is the vibration value of the rotating component and the dynamic balancing device, the second sensor is an encoder, and the second sensing signal is the rotation angle of the rotating component or the dynamic balancing device.

[0026] Optimally, the dynamic balancing device utilizes the power generated by the rotation of the rotating component to drive the first balancing unit and the second balancing unit.

[0027] Optimally, after the control unit calculates the first equilibrium position of the first balancing unit and the second equilibrium position of the second balancing unit based on the first sensing signal and the second sensing signal, the control unit will issue a first control command and a second control command to the first braking unit and the second braking unit respectively to control the first braking mechanism and the second braking mechanism, and the control unit drives the driving device to control the rotating component to rotate to the corresponding position.

[0028] Optimally, the first braking mechanism and the second braking mechanism of the dynamic balancing device use a friction mechanism to control the positions to which the first balancing unit and the second balancing unit should rotate; or, the first braking mechanism and the second braking mechanism of the dynamic balancing device use a mechanism latch to control the positions to which the first balancing unit and the second balancing unit should rotate.

[0029] Optimally, the dynamic balancing device further includes a fourth sensor, and the control unit monitors and controls the first balancing unit to rotate to the first balancing position and the second balancing unit to rotate to the second balancing position respectively through the third sensing signal of the third sensor and the fourth sensing signal of the fourth sensor.

[0030] This invention utilizes the power generated by the machine's spindle to drive two eccentric rings for automatic dynamic balancing. Utilizing the spindle servo control function of a CNC controller, this eliminates the need for a drive motor, gear train, and motor driver, significantly reducing costs. Furthermore, the position of the two balancing units is adjusted by rotation, eliminating the need for any actuators or gear trains. The resulting design is simple, assembly precision is easily controlled, and the mechanism offers high reliability and a high rotational speed capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A block diagram of the balance monitoring system of the present invention Figure 1 ;

[0032] Figure 2 A block diagram of the balance monitoring system of the present invention Figure 2 ;

[0033] Figure 3 A block diagram of the balance monitoring system of the present invention Figure 3 ;

[0034] Figure 4 A block diagram of the balance monitoring system of the present invention Figure 4 ;

[0035] Figure 5A This is a schematic diagram of the implementation of the balancing device of the present invention when it is not activated;

[0036] Figure 5B for Figure 5A A top view of

[0037] Figure 6A This is a schematic diagram of the implementation of the balancing device of the present invention in the braking state;

[0038] Figure 6B for Figure 6A Top view of . DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the present invention, the following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained under the premise of equivalent changes and modifications made by ordinary technicians in this field should fall within the scope of protection of the present invention.

[0040] Figures 1 to 4 The dynamic balancing monitoring system of the present application is applied to a machine with a rotating spindle, and includes a control unit 100 , a driving device 200 and a rotating component 300 .

[0041] The control unit 100 is a controller for a machine with a rotating spindle. A drive device 200 is coupled to the control unit 100 and, in practice, serves as the machine's spindle motor. A rotating member 300 couples the control unit 100 and the drive device 200. The rotating member 300 includes a rotating shaft 310 and a grinding device 320. The grinding device 320 is coupled to the rotating shaft 310 and drives the grinding device 320. In practice, the rotating shaft 310 serves as the machine's spindle, and the grinding device 320 is a grinding wheel.

[0042] The dynamic balancing monitoring system also includes a dynamic balancing device 500, which is coupled to the rotating component 300 and driven by the power of the rotating component 300. The dynamic balancing device 500 includes a first braking unit 510, a first braking mechanism 511, a second braking unit 520, a second braking mechanism 521, a first balancing unit 530, a second balancing unit 540, and a third sensor 550. In practice, the first and second balancing units 530, 540 of the dynamic balancing device 500 are mounted on an extension shaft 560. The power generated by the rotating shaft 310 of the rotating component 300 drives the extension shaft 560, thereby driving the first and second balancing units 530, 540.

[0043] The dynamic balance monitoring system further includes a first sensor 410, which is coupled to the rotating component 300 (eg Figure 1 and Figure 3 As shown) or the dynamic balancing device 500 (as shown Figure 2 and Figure 4 As shown in FIG. 3 ). When the rotating component 300 (rotating shaft 310 and grinding device 320) drives the dynamic balancing device 500 to operate, the first sensor 410 senses a first sensing signal 411 associated with the rotating component 300 and the dynamic balancing device 500, and the first sensor 410 transmits the first sensing signal 411 to the control unit 100. The dynamic balancing monitoring system further includes a second sensor 420, which is coupled to the rotating component 300 (as shown in FIG. 3 ). Figure 1 and Figure 3 As shown) or the dynamic balancing device 500 (as shown Figure 2 and Figure 4As shown in FIG. 3 ). When the rotating member 300 (rotating shaft 310) drives the dynamic balancing device 500 to operate, the second sensor 420 senses a second sensing signal 421 associated with the rotating member 300 or the dynamic balancing device 500. The second sensor 420 transmits the second sensing signal 421 to the control unit 100. In practical applications, the first sensor 410 is a vibration sensor, such as an accelerometer; the first sensing signal 411 represents the vibration value of the rotating member 300 and the dynamic balancing device 500. The second sensor 420 is an encoder; the second sensing signal 421 represents the rotation angle of the rotating member 300 or the dynamic balancing device 500, that is, the second sensing signal 421 represents the rotation angle of the grinding device 320. In an embodiment of the present invention, the control unit 100 uses the second sensing signal 421 to calculate the rotation angle or position of the rotating member 300 or the dynamic balancing device 500 according to actual needs.

[0044] The control unit 100 calculates the imbalance of the rotating component 300 (rotating shaft 310 and grinding device 320) and / or the dynamic balancing device 500 based on the first sensing signal 411 and the second sensing signal 421. The control unit 100 uses the imbalance of the rotating component 300 or the dynamic balancing device 500 to calculate the rotational positions of the eccentric weights of the first balancing unit 530 and the second balancing unit 540, i.e., the first and second balanced positions of the first and second balancing units 530 and 540.

[0045] The control unit 100 uses the third sensor 550 (such as Figure 1 and Figure 2The positions of the first balancing unit 530 and the second balancing unit 540 are calculated based on the third sensing signal 551 (shown in FIG. 1 ). In practice, the third sensor 550 is an origin sensor, used to monitor the relative positions of the first balancing unit 530 and the second balancing unit 540 on the extension shaft 560. After the control unit 100 calculates the first equilibrium position of the first balancing unit 530 and the second equilibrium position of the second balancing unit 540 based on the first sensing signal 411 and the second sensing signal 421, the control unit 100 issues a first control command 110 and a second control command 120 to the first braking unit 510 and the second braking unit 520, respectively, to control the first braking mechanism 511 and the second braking mechanism 520. Furthermore, the control unit 100 drives the driving device 200 to rotate the rotating shaft 310 and the grinding device 320 in the rotating component 300 to corresponding positions. The control unit 100 drives the first braking mechanism 511 through the first braking unit 510 to control the first balancing unit 530 to rotate to the first balancing position; and then drives the second braking mechanism 521 through the second braking unit 520 to control the second balancing unit 540 to rotate to the second balancing position to achieve dynamic balance.

[0046] Figure 5A 、 Figure 5B 、 Figure 6A and Figure 6B The figure is a schematic diagram illustrating an implementation of the dynamic balancing device 500. In practice, the first brake unit 510 and the second brake unit 520 are two electromagnet assemblies, the first brake mechanism 511 and the second brake mechanism 512 are two brake linkages, and the first balancing unit 530 and the second balancing unit 540 are two balancing rings. The first brake unit 510 and the second brake unit 520 respectively control the corresponding contact between the first brake mechanism 511 and the second brake mechanism 512 and the first balancing unit 530 and the second balancing unit 540, thereby preventing the first balancing unit 530 and the second balancing unit 540 from rotating with the extension shaft 560, thereby adjusting the eccentric counterweight position of the first balancing unit 530 and the second balancing unit 540 on the extension shaft 560.

[0047] During application, the first braking mechanism 511 and the second braking mechanism 521 of the dynamic balancing device 500 respectively control the positions to which the first balancing unit 530 and the second balancing unit 540 should rotate by means of mechanism latches. Figure 5A and Figure 5B This is the state when the first brake mechanism 511 and the second brake mechanism 512 are not actuated. Figure 6A and Figure 6BThe second brake unit 520 activates the second brake mechanism 512; the second balancing unit 540 is secured by a groove engagement mechanism. The extension shaft 560 is driven by the power generated by the rotating member 300 (rotating shaft 310) to rotate to the desired position, controlling the second balancing unit 540 to rotate to the second equilibrium position on the extension shaft 560 to achieve dynamic balance. The principle of controlling the first balancing unit 530 is the same.

[0048] With a similar working principle, when implemented, the first braking mechanism 511 and the second braking mechanism 521 of the dynamic balancing device 500 can control the first balancing unit 530 and the second balancing unit 540 to rotate the extension shaft 560 to a position through a friction mechanism.

[0049] In practice, the dynamic balancing device 500 includes, in addition to the third sensor 550, a fourth sensor 570 (e.g. Figure 3 and Figure 4 As shown, the control unit 100 monitors and controls the first balancing unit 530 to rotate to the first balancing position and the second balancing unit 540 to rotate to the second balancing position respectively through the third sensing signal 551 of the third sensor 550 and the fourth sensing signal 571 of the fourth sensor 570. The fourth sensor 570 is an origin sensor.

[0050] When implementing the application, the operation process of this application is as follows:

[0051] 1. The control unit 100 transmits a first sensing signal 411 and a second sensing signal 421 respectively sensed by a first sensor 410 and a second sensor 420 coupled to the rotating component 300 or the dynamic balancing device 500. Specifically, the first sensing signal 411 represents the vibration value of the rotating component 300 and the dynamic balancing device 500, and the second sensing signal 421 represents the rotation angle or position of the rotating component 300 or the dynamic balancing device 500.

[0052] 2. The control unit 100 calculates the imbalance of the rotating component 300 and / or the dynamic balancing device 500 based on the vibration values of the rotating component 300 and the dynamic balancing device 500 measured by the first sensor 410 and the second sensor 420, as well as the rotation angle or position of the rotating component 300 or the dynamic balancing device 500.

[0053] 3. The control unit 100 calculates the rotational positions of the first balancing unit 530 and the second balancing unit 540 , ie, the first balanced position and the second balanced position, using the unbalanced amount of the rotating component 300 and / or the dynamic balancing device 500 .

[0054] 4. The control unit 100 monitors the relative positions of the first balancing unit 530 and the second balancing unit 540 on the extension shaft 560 through the third sensing signal 551 of the third sensor 550 (in another embodiment, it includes the fourth sensing signal 571 of the fourth sensor 570). The control unit 100 drives the first braking mechanism 511 through the first braking unit 510 to control the first balancing unit 530 to rotate to the first balancing position; and then drives the second braking mechanism 521 through the second braking unit 520 to control the second balancing unit 540 to rotate to the second balancing position to achieve dynamic balance.

[0055] This application utilizes the power generated by the spindle's rotation to drive two balancing units for automatic dynamic balancing. Using the spindle servo control function of the CNC machine controller eliminates the need for a drive motor, gear train, and motor driver, significantly reducing costs. The integrated dynamic balancing device adjusts the position of the two balancing units through active rotation, eliminating the need for any actuators or gear trains. The system boasts a simple structure, easily controlled assembly precision, high mechanical reliability, and a high permissible rotational speed, improving work efficiency.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. At the same time, the above description should be clear and implementable to those with ordinary knowledge in the relevant technical field. Therefore, other equivalent changes or modifications that do not depart from the concepts disclosed in the present invention should be included in the scope of protection of the present invention.

Claims

1. A dynamic balance monitoring system, characterized in that: It includes: control unit; a driving device coupled to the control unit; a rotating member coupling the control unit and the driving device; a dynamic balancing device coupled to the rotating member and driven by the power of the rotating member; the dynamic balancing device comprising a first braking unit, a first braking mechanism, a second braking unit, a second braking mechanism, a first balancing unit, a second balancing unit, and a third sensor; a first sensor coupled to the rotating member or the dynamic balancing device; When the rotating member drives the dynamic balancing device to operate, the first sensor senses a first sensing signal associated with the rotating member and the dynamic balancing device, and the first sensor transmits the first sensing signal to the control unit; a second sensor coupled to the rotating member or the dynamic balancing device; When the rotating component drives the dynamic balancing device to operate, the second sensor senses a second sensing signal associated with the rotating component or the dynamic balancing device, and the second sensor transmits the second sensing signal to the control unit; The control unit calculates an unbalance amount of the rotating component based on the first sensing signal and the second sensing signal, and calculates a first equilibrium position and a second equilibrium position of the first balancing unit and the second balancing unit using the unbalance amount of the rotating component and / or the dynamic balancing device; The control unit monitors the positions of the first balancing unit and the second balancing unit through the third sensing signal of the third sensor. The control unit drives the first braking mechanism through the first braking unit to control the first balancing unit to rotate to the first balancing position, and then drives the second braking mechanism through the second braking unit to control the second balancing unit to rotate to the second balancing position, so as to achieve dynamic balance.

2. The dynamic balancing monitoring system according to claim 1, characterized in that: The rotating component is provided with a rotating shaft and a grinding device. The grinding device is coupled to the rotating shaft, and the rotating shaft drives the grinding device.

3. The dynamic balancing monitoring system according to claim 1, characterized in that: The first sensor is a vibration sensor, the first sensing signal is the vibration value of the rotating component and the dynamic balancing device, the second sensor is an encoder, and the second sensing signal is the rotation angle of the rotating component or the dynamic balancing device.

4. The dynamic balancing monitoring system according to claim 1, characterized in that: The first balancing unit and the second balancing unit of the dynamic balancing device are disposed on an extension shaft. The power generated by the rotating component drives the extension shaft and simultaneously drives the first balancing unit and the second balancing unit.

5. The dynamic balancing monitoring system according to claim 1, characterized in that: After the control unit calculates the first equilibrium position of the first balancing unit and the second equilibrium position of the second balancing unit based on the first sensing signal and the second sensing signal, the control unit issues a first control command and a second control command to the first braking unit and the second braking unit respectively to control the first braking mechanism and the second braking mechanism, and the control unit drives the driving device to control the rotating component to rotate to a corresponding position.

6. The dynamic balancing monitoring system according to claim 1, characterized in that: The first braking mechanism and the second braking mechanism of the dynamic balancing device use a friction mechanism to control the positions to which the first balancing unit and the second balancing unit should rotate; or the first braking mechanism and the second braking mechanism of the dynamic balancing device use a mechanism latch to control the positions to which the first balancing unit and the second balancing unit should rotate.

7. The dynamic balancing monitoring system according to claim 1, characterized in that: The dynamic balancing device further includes a fourth sensor, and the control unit monitors and controls the first balancing unit to rotate to the first balancing position and the second balancing unit to rotate to the second balancing position respectively through the third sensing signal of the third sensor and the fourth sensing signal of the fourth sensor.

8. A dynamic balance monitoring method, characterized in that: The following steps are involved: The dynamic balancing device is coupled to a rotating member and is driven by the power of the rotating member. The rotating member is controlled and driven by a control unit and a driving device. The dynamic balancing device includes a first braking unit, a first braking mechanism, a second braking unit, a second braking mechanism, a first balancing unit, a second balancing unit, and a third sensor. The control unit calculates an unbalance amount of the rotating component and / or the dynamic balancing device based on a first sensing signal and a second sensing signal respectively sensed by a first sensor and a second sensor coupled to the rotating component or the dynamic balancing device, and calculates a first balanced position and a second balanced position of the first balancing unit and the second balancing unit using the unbalance amount of the rotating component and / or the dynamic balancing device; The control unit monitors the positions of the first balancing unit and the second balancing unit through the third sensing signal of the third sensor. The control unit drives the first braking mechanism through the first braking unit to control the first balancing unit to rotate to the first balancing position, and then drives the second braking mechanism through the second braking unit to control the second balancing unit to rotate to the second balancing position, so as to achieve dynamic balance.

9. The dynamic balance monitoring method according to claim 8, characterized in that: The first sensor is a vibration sensor, the first sensing signal is the vibration value of the rotating component and the dynamic balancing device, the second sensor is an encoder, and the second sensing signal is the rotation angle of the rotating component or the dynamic balancing device.

10. The dynamic balance monitoring method according to claim 8, characterized in that: The dynamic balancing device utilizes the power generated by the rotation of the rotating component to drive the first balancing unit and the second balancing unit.

11. The dynamic balance monitoring method according to claim 8, characterized in that: After the control unit calculates the first equilibrium position of the first balancing unit and the second equilibrium position of the second balancing unit based on the first sensing signal and the second sensing signal, the control unit issues a first control command and a second control command to the first braking unit and the second braking unit respectively to control the first braking mechanism and the second braking mechanism, and the control unit drives the driving device to control the rotating component to rotate to a corresponding position.

12. The dynamic balance monitoring method according to claim 8, characterized in that: The first braking mechanism and the second braking mechanism of the dynamic balancing device use a friction mechanism to control the positions to which the first balancing unit and the second balancing unit should rotate; or the first braking mechanism and the second braking mechanism of the dynamic balancing device use a mechanism latch to control the positions to which the first balancing unit and the second balancing unit should rotate.

13. The dynamic balance monitoring method according to claim 8, characterized in that: The dynamic balancing device further includes a fourth sensor, and the control unit monitors and controls the first balancing unit to rotate to the first balancing position and the second balancing unit to rotate to the second balancing position respectively through a third sensing signal from the third sensor and a fourth sensing signal from the fourth sensor.

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