Automatic Balancing Device and Control Method for High-Speed Turntable

Abstract

The present invention discloses an automatic balancing device and control method for a high-speed turntable. The high-speed turntable includes a turntable main body and a turntable rotating shaft. The automatic balancing device includes a driving motor, a pressure sensor, a rotating shaft, a balancing slider, a support bearing, an annular kit, and a control module. The pressure sensor is fixed to the outer surface of the turntable rotating shaft through the annular kit and the support bearing, and the probe of the pressure sensor presses on the outer surface. The rotation of the rotating shaft drives the balancing slider to move in the axial direction of the rotating shaft. The driving motor is arranged at one end of the rotating shaft and drives the rotating shaft to rotate. The control module is used to obtain the pressure signal when the high-speed turntable rotates, and obtain the moving amount of a balancing slider according to the pressure signal. The control module is also used to drive the driving motor to rotate so that the balancing slider moves by the moving amount. The present invention can make the high-speed turntable operate in a balanced state, making the workpiece processing accuracy higher. Further, the high-speed turntable can be quickly adjusted to a balanced state.

Description

Technical Field

[0001] The present invention relates to the field of numerical control machine tools, and particularly relates to an automatic balancing device and a control method for a high-speed turntable. Background Art

[0002] The general balance requirements for mechanisms such as turntables and face plates on machine tools are as follows: under the condition of not installing workpieces or tools, dynamic balance is performed, or only static balance is performed; however, during the use of the turntable or face plate, after installing workpieces or tools, the original dynamic balance state has already been broken. For a turntable or face plate under such conditions, the centrifugal force is small at low rotational speeds, and due to the guarantee under certain rigidity conditions, the impact on machining accuracy is small; but at high rotational speeds, the centrifugal force F = mv² / r will increase exponentially with the rotational speed; this situation will lead to increased vibration, loss of accuracy, accelerated bearing wear, and a significant reduction in the service life of the entire component;

[0003] In order to reduce the occurrence of the above situations, the prior art is to limit the parameters of the equipment and reduce the technical indicators of the equipment, but none of these can solve the problems caused by the imbalance of the high-speed turntable. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the defect that the numerical control machine tool in the prior art cannot solve the imbalance of the high-speed turntable, and provide an automatic balancing device and a control method for a high-speed turntable that can make the high-speed turntable operate in a balanced state, make the machining accuracy of the workpieces on the high-speed turntable higher, and can quickly adjust to the balanced state.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] An automatic balancing device for a high-speed turntable, the high-speed turntable includes a turntable main body and a turntable rotating shaft, and the automatic balancing device includes a driving motor, at least 4 pressure sensors, a rotating shaft, a balancing slider, a support bearing, an annular kit, and a control module,

[0007] The pressure sensors are fixed on the outer surface of the turntable rotating shaft through the annular kit and the support bearing, and the probe heads of the pressure sensors press on the outer surface;

[0008] The rotating shaft is arranged in the turntable main body, the axis of the rotating shaft intersects with the axis of the turntable main body, and the rotation of the rotating shaft drives the balancing slider to move in the axial direction of the rotating shaft;

[0009] The driving motor is arranged at one end of the rotating shaft and drives the rotating shaft to rotate;

[0010] The control module is used to obtain the pressure signal when the high-speed turntable rotates, and obtain the moving amount of a balancing slider according to the pressure signal;

[0011] The control module is further configured to drive the driving motor to rotate so as to move the balance slider by the movement amount.

[0012] Preferably, the high-speed turntable further includes a fixing device. The turntable rotating shaft is installed in the fixing device. The annular kit includes a fixing ring and a mounting ring protruding from the fixing ring. The outer surface of the fixing ring is installed on the inner side of the inner ring of the support bearing. The outer side of the outer ring of the support bearing is installed on the fixing device. The pressure sensors are all installed on the mounting ring. There is a gap between the inner surface of the mounting ring and the turntable rotating shaft.

[0013] Preferably, the number of the pressure sensors is 4. Sensor grooves are provided at positions corresponding to the pressure sensors on the turntable rotating shaft. The pressure sensors are fixed to the annular kit by top screws. The probe heads of the pressure sensors press on the bottom surfaces of the sensor grooves. One side of the annular kit is provided with a mounting bearing and the other side is provided with a conductive slip ring. The outer ring of the conductive slip ring is fixed to the fixing device. The inner ring of the conductive slip ring is fixed to the turntable rotating shaft.

[0014] Preferably, the inner ring and the outer ring of the conductive slip ring are in contact through several conductive pins. A first wire passing through hole is provided on the turntable rotating shaft. A second wire passing through hole and a wire passing inner cavity are provided on the turntable main body. The second wire passing through hole is provided at the top of the turntable rotating shaft. The power supply wire and the signal wire of the automatic balancing device sequentially pass through the outer ring, the inner ring, the first wire passing through hole, the inner cavity of the turntable rotating shaft, the second wire passing through hole and the wire passing inner cavity of the conductive slip ring to be connected to the driving motor.

[0015] The power supply wire and the signal wire of the automatic balancing device sequentially pass through the outer ring, the inner ring, the first wire passing through hole and the inner cavity of the turntable rotating shaft to be connected to the pressure sensor.

[0016] Preferably, an installation through hole is provided in the turntable main body. The driving motor is fixed at one end of the installation through hole. The inner surface of the installation through hole is provided with internal threads. The end face of the rotating shaft is fixed to the driving motor through a thrust bearing. The rotating shaft is installed on the rotor of the driving motor. A sliding key is provided on the rotating shaft. The sliding key is installed on the inner surface of the balance slider. The outer surface of the balance slider is provided with external threads matching the internal threads in the installation through hole.

[0017] Preferably, the number of both the driving motor and the rotating shaft is 2. The installation through holes for installing the rotating shafts are vertically and superposed up and down in the turntable main body. The driving motor is fixed at one end of the installation through hole. A counterweight matching the driving motor is provided at the other end of the installation through hole. One end of the rotating shaft is installed on the rotor of the driving motor and the other end is fixed to the counterweight.

[0018] Preferably, the number of the driving motors is 4, and they are pairwise opposite. The rotating shafts connected to the opposite driving motors are located on the same axis. A balancing slider is provided on each rotating shaft. The 4 rotating shafts are located in the same plane or two opposite rotating shafts are located in the same plane.

[0019] Preferably, the control module presets the positional relationship between the pressure sensors and the rotating shafts, and the control module is configured to:

[0020] Obtain the pressure signals of all the pressure sensors when the high-speed turntable rotates;

[0021] Obtain the pressure difference in the pressure signals of the relative pressure sensors;

[0022] According to the positional relationship and the corresponding relationship between the pressure signal and the rotation amount, obtain the rotation amount corresponding to the pressure difference;

[0023] Drive the driving motor to rotate by the rotation amount to move the balancing slider.

[0024] Preferably, the initial position of the balancing slider makes the center of gravity of the no-load turntable body located on the axis of the turntable body, and the control module is configured to:

[0025] Utilize the first two pressure signals among the maximum values of the 4 pressure signals and a preset algorithm to obtain the center of gravity position of the current turntable body;

[0026] Utilize the center of gravity position and the preset algorithm to obtain a virtual center of gravity point. The virtual center point, the center of the turntable body, and the center of gravity position are successively located on a straight line;

[0027] Obtain the target position of the balancing slider when the center of gravity of the no-load turntable body is located at the virtual center of gravity point;

[0028] Drive the driving motor to rotate to move the balancing slider to the target position, and then execute again the step of utilizing the first two pressure signals among the maximum values of the 4 pressure signals and the preset algorithm to obtain the center of gravity position of the current turntable body until the maximum value among the 4 pressure signals is less than a preset value;

[0029] Wherein, the preset algorithm includes the corresponding relationship between the maximum value of the pressure signal and the center of gravity position obtained by artificial intelligence training, and the corresponding relationship between the position of the balancing slider and the center of gravity position. The distance from the virtual center point to the center of the turntable body is less than the distance from the center of gravity position to the center of the turntable body.

[0030] The present invention also provides a control method, and the control method is used to control the automatic balancing device as described above.

[0031] On the basis of conforming to the common knowledge in the art, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred examples of the present invention.

[0032] The positive and progressive effects of the present invention are as follows:

[0033] The present invention can enable the high-speed turntable to operate in a balanced state, making the machining accuracy of the workpieces on the high-speed turntable higher. Further, the high-speed turntable can be quickly adjusted to a balanced state. Description of the Drawings

[0034] Figure 1 It is a schematic structural diagram of the automatic balancing device according to Embodiment 1 of the present invention.

[0035] Figure 2 It is another schematic structural diagram of the automatic balancing device according to Embodiment 1 of the present invention. Embodiment Modes

[0036] The present invention will be further described below by way of embodiments, but the present invention is not limited to the scope of the described embodiments accordingly. Embodiments

[0037] Refer to Figure 1 、 Figure 2 , this embodiment provides a numerical control machine tool, which includes a high-speed turntable, and the high-speed turntable includes an automatic balancing device.

[0038] The high-speed turntable includes a turntable main body 11 and a turntable rotating shaft 27.

[0039] The automatic balancing device includes a driving motor 16, at least 4 pressure sensors 24, a rotating shaft 14, a balancing slider 12, a support bearing 22, an annular kit 25 and a control module. The 4 pressure sensors are evenly distributed around the turntable rotating shaft 27, and the distance between adjacent two pressure sensors is 90 degrees.

[0040] The pressure sensors are fixed on the outer surface of the turntable rotating shaft 27 through the annular kit 25 and the support bearing 22, and the probe heads of the pressure sensors press on the outer surface.

[0041] The rotating shaft 14 is arranged inside the turntable main body. The axis of the rotating shaft 14 intersects with the axis of the turntable main body. The rotation of the rotating shaft 14 drives the balancing slider 12 to move in the axial direction of the rotating shaft 14.

[0042] The driving motor 16 is arranged at one end of the rotating shaft 14 and drives the rotating shaft 14 to rotate.

[0043] The control module is used to obtain the pressure signal when the high-speed turntable rotates, and obtain the moving amount of a balancing slider 12 according to the pressure signal.

[0044] The control module is further used to drive the driving motor to rotate so that the balancing slider 12 moves the moving amount.

[0045] A movable balance slider 12 is provided on the turntable body, and the balance state of the turntable can be adjusted by moving the balance slider 12.

[0046] The high-speed turntable further includes a fixing device. The fixing device can be the outer shell of the high-speed turntable, the outer shell of the numerical control machine tool, or the fixing structure inside the high-speed turntable or the numerical control machine tool.

[0047] The turntable rotating shaft is installed in the fixing device. The annular kit 25 includes a fixing ring and a mounting ring protruding from the fixing ring.

[0048] The outer surface of the fixing ring is installed on the inner side of the inner ring of the support bearing 22, and the outer side of the outer ring of the support bearing 22 is installed on the fixing device.

[0049] The pressure sensors are all installed on the mounting ring, and there is a gap between the inner surface of the mounting ring and the turntable rotating shaft.

[0050] The number of the pressure sensors is 4. Sensor grooves are provided at the positions corresponding to the pressure sensors on the turntable rotating shaft. The pressure sensors are fixed to the annular kit 25 by top screws 23, and the probe heads of the pressure sensors press on the bottom surfaces of the sensor grooves.

[0051] One side of the annular kit 25 is provided with a mounting bearing 21 and the other side is provided with a conductive slip ring 26. The outer ring of the conductive slip ring 26 is fixed to the fixing device, and the inner ring of the conductive slip ring 26 is fixed to the turntable rotating shaft 27.

[0052] In this embodiment, the top of the annular kit is provided with a mounting bearing 21 and the bottom is provided with the conductive slip ring.

[0053] The inner ring and the outer ring of the conductive slip ring are in contact through several conductive pins, and a first wire passing through hole is provided on the turntable rotating shaft.

[0054] A second wire passing through hole and a wire passing cavity are provided on the turntable body. The second wire passing through hole is provided at the top of the turntable rotating shaft.

[0055] The power supply line and the signal line of the automatic balance device are sequentially connected to the drive motor through the outer ring, inner ring, first wire passing through hole, inner cavity of the turntable rotating shaft, second wire passing through hole and wire passing cavity of the conductive slip ring.

[0056] The power supply line and the signal line of the automatic balance device are sequentially connected to the pressure sensors through the outer ring, inner ring, first wire passing through hole and inner cavity of the turntable rotating shaft of the conductive slip ring.

[0057] An installation through-hole is provided inside the turntable main body, and the driving motor is fixed at one end of the installation through-hole. The inner surface of the installation through-hole is provided with internal threads.

[0058] The end face of the rotating shaft is fixed to the driving motor through a thrust bearing 15, and the rotating shaft is installed on the rotor of the driving motor.

[0059] A sliding key 13 is provided on the rotating shaft. The sliding key 13 is installed on the inner surface of the balance slider, and the outer surface of the balance slider is provided with external threads that match the internal threads in the installation through-hole.

[0060] In other embodiments, the inner surface of the balance slider is provided with internal threads, the rotating shaft is provided with external threads, and the inner surface of the installation through-hole is provided with a guide groove or a guide protrusion (sliding key) to enable the balance slider to slide inside the installation through-hole.

[0061] The number of the driving motors and the rotating shafts is both 2. The installation through-holes for installing the rotating shafts are vertically and stacked on top of each other inside the turntable main body. The driving motor is fixed at one end of the installation through-hole, and a counterweight matching the driving motor is provided at the other end of the installation through-hole. One end of the rotating shaft is installed on the rotor of the driving motor and the other end is fixed to the counterweight.

[0062] In other embodiments, the number of the driving motors is 4 and they are pairwise opposite. The rotating shafts connected to the opposite driving motors are located on the same axis. A balance slider is provided on each rotating shaft. The 4 rotating shafts are located in the same plane or two opposite rotating shafts are located in the same plane.

[0063] Further, the control module presets the positional relationship between the pressure sensors and the rotating shaft. The control module is used for:

[0064] Obtaining the pressure signals of all the pressure sensors when the high-speed turntable rotates;

[0065] Obtaining the pressure difference in the pressure signals of the relative pressure sensors;

[0066] According to the positional relationship and the corresponding relationship between the pressure signal and the rotation amount, obtaining the rotation amount corresponding to the pressure difference;

[0067] Driving the driving motor to rotate by the rotation amount to move the balance slider.

[0068] Preferably, the initial position of the balance slider enables the center of gravity of the unloaded turntable main body to be located on the axis of the turntable main body. The control module is used for:

[0069] Using the first two pressure signals among the maximum values of the 4 pressure signals and a preset algorithm to obtain the center of gravity position of the current turntable main body;

[0070] Obtain a virtual center of gravity point by using the center of gravity position and the preset algorithm. The virtual center point, the center of the turntable body, and the center of gravity position are sequentially located on a straight line.

[0071] Obtain the target position of the balance slider when the center of gravity of the turntable body without load is located at the virtual center of gravity point.

[0072] Drive the driving motor to rotate to move the balance slider to the target position, and then execute again the step of obtaining the center of gravity position of the current turntable body by using the first two pressure signals among the maximum values of the 4 pressure signals and the preset algorithm until the maximum value among the 4 pressure signals is less than the preset value.

[0073] Wherein, the preset algorithm includes the corresponding relationship between the maximum value of the pressure signal and the center of gravity position obtained by artificial intelligence training, and the corresponding relationship between the position of the balance slider and the center of gravity position. The distance from the virtual center point to the center of the turntable body is less than the distance from the center of gravity position to the center of the turntable body.

[0074] The balance slider is moved by a motor arranged in the turntable body. A conductive slip ring is also arranged on the turntable shaft, which mainly transmits electric energy to the motor.

[0075] A ring kit is configured at the rear end of the mounting bearing of the turntable. There are 4 evenly distributed ceramic piezoelectric sensors on the ring kit. The sensors are pre-pressed on the turntable shaft by the top screws on the ring kit. The eccentric direction of the turntable can be determined by the pressure difference between the opposite 2 sensors. The pressure signals of the sensors are converted into driving signals of the motor through a microcontroller (control module) to realize the closed-loop control of signal feedback and execution actions. Repeat the cycle until the eccentric force is detected within the specified accuracy range, and then stop the dynamic balancing action; at this time, the turntable is in a dynamically balanced state.

[0076] The electric energy and the driving signal of the microcontroller are transmitted to the driving motor through the conductive slip ring. When the turntable rotates, the bearing transmits the centrifugal force to the pressure sensor, and the sensor feeds back the direction of the eccentric force to the microcontroller. The microcontroller drives two motors in the mutually perpendicular X-axis and Y-axis directions according to the feedback eccentric direction, and the motors respectively drive the sliders in the X and Y directions to move. At the same time, the sensor transmits the eccentric force direction to the microcontroller in real time. Repeat the cycle until the eccentric force is detected within the specified accuracy range, and then stop the dynamic balancing action.

[0077] The pressure sensors are evenly installed on the sensor fixing ring, and the sensor fixing ring is fixed on the inner ring of the bearing. The sensor fixing ring (ring kit) does not contact the core shaft of the turntable. The probe of the pressure sensor presses on the turntable, and the pressure sensor rotates together with the turntable shaft.

[0078] The motor is arranged inside the turntable body and will rotate with the turntable.

[0079] Automatically balance the turntable while the turntable is rotating.

[0080] Furthermore, by using the automatic balancing device, this embodiment provides a control method, including:

[0081] The control module obtains the pressure signal when the high-speed turntable rotates, and obtains the moving amount of a balance slider according to the pressure signal;

[0082] The control module drives the drive motor to rotate to move the balance slider by the moving amount.

[0083] Specifically, the control method includes:

[0084] Obtain the pressure signals of all pressure sensors when the high-speed turntable rotates;

[0085] Obtain the pressure difference in the pressure signals of the relative pressure sensors;

[0086] According to the positional relationship and the corresponding relationship between the pressure signal and the rotation amount, obtain the rotation amount corresponding to the pressure difference;

[0087] Drive the drive motor to rotate by the rotation amount to move the balance slider.

[0088] Furthermore, the control method includes:

[0089] Use the first two pressure signals among the maximum values of 4 pressure signals and a preset algorithm to obtain the centroid position of the current turntable body;

[0090] Use the centroid position and the preset algorithm to obtain a virtual centroid point, and the virtual center point, the center of the turntable body, and the centroid position are sequentially located on a straight line;

[0091] Obtain the target position of the balance slider when the centroid of the turntable body without load is located at the virtual centroid point;

[0092] Drive the drive motor to rotate to move the balance slider to the target position, and then execute again the step of using the first two pressure signals among the maximum values of 4 pressure signals and the preset algorithm to obtain the centroid position of the current turntable body until the maximum value among the 4 pressure signals is less than a preset value;

[0093] Wherein, the preset algorithm includes the corresponding relationship between the maximum value of the pressure signal and the centroid position obtained by artificial intelligence training, and the corresponding relationship between the position of the balance slider and the centroid position, and the distance from the virtual center point to the center of the turntable body is less than the distance from the centroid position to the center of the turntable body.

[0094] Using a pre-trained preset algorithm, it is possible to quickly calculate the movement amount of the balance slider, enabling the turntable body to quickly reach a balanced state.

[0095] Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that these are only examples. The protection scope of the present invention is defined by the appended claims. Without departing from the principles and essence of the present invention, those skilled in the art can make various changes or modifications to these embodiments, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. An automatic balancing device for a high-speed turntable, wherein the high-speed turntable includes a turntable main body and a turntable rotating shaft, and is characterized in that, The automatic balancing device includes a driving motor, at least four pressure sensors, a rotating shaft, a balancing slider, a support bearing, an annular kit, and a control module. The pressure sensors are fixed to the outer surface of the turntable shaft through the annular kit and the support bearing, and the probe heads of the pressure sensors press on the outer surface. The rotating shaft is arranged inside the turntable body. The axis of the rotating shaft intersects with the axis of the turntable body. The rotation of the rotating shaft drives the balancing slider to move in the axial direction of the rotating shaft. The driving motor is arranged at one end of the rotating shaft and drives the rotating shaft to rotate. The control module is used to obtain the pressure signals when the high-speed turntable rotates, and obtain the moving amount of a balancing slider according to the pressure signals. The control module is also used to drive the driving motor to rotate so that the balancing slider moves the moving amount. The control module presets the positional relationship between the pressure sensor and the rotating shaft. The control module is used for: Obtaining the pressure signals of all the pressure sensors when the high-speed turntable rotates; Obtaining the pressure difference in the pressure signals of the relative pressure sensors; According to the positional relationship and the corresponding relationship between the pressure signal and the rotation amount, obtaining the rotation amount corresponding to the pressure difference; Driving the driving motor to rotate the rotation amount to move the balancing slider; The initial position of the balancing slider makes the center of gravity of the empty turntable body located on the axis of the turntable body. The control module is used for: Using the first two pressure signals among the maximum values of the four pressure signals and a preset algorithm to obtain the center of gravity position of the current turntable body; Using the center of gravity position and the preset algorithm to obtain a virtual center of gravity point. The virtual center point, the center of the turntable body, and the center of gravity position are successively located on a straight line; Obtaining the target position of the balancing slider when the center of gravity of the empty turntable body is located at the virtual center of gravity point; Driving the driving motor to rotate to move the balancing slider to the target position, and then executing again the step of using the first two pressure signals among the maximum values of the four pressure signals and a preset algorithm to obtain the center of gravity position of the current turntable body until the maximum value among the four pressure signals is less than a preset value; Wherein, the preset algorithm includes the corresponding relationship between the maximum value of the pressure signal obtained by artificial intelligence training and the center of gravity position, and the corresponding relationship between the position of the balancing slider and the center of gravity position. The distance from the virtual center point to the center of the turntable body is less than the distance from the center of gravity position to the center of the turntable body.

2. The automatic balancing device according to claim 1, wherein, The high-speed turntable further includes a fixing device. The turntable shaft is installed inside the fixing device. The annular kit includes a fixing ring and an installation ring protruding from the fixing ring. The outer surface of the fixing ring is installed on the inner side of the inner ring of the support bearing. The outer side of the outer ring of the support bearing is installed on the fixing device. The pressure sensors are all installed on the installation ring. There is a gap between the inner surface of the installation ring and the turntable shaft.

3. The automatic balancing device according to claim 2, wherein, The number of the pressure sensors is 4. Sensor slots are provided at positions on the turntable rotating shaft corresponding to the pressure sensors. The pressure sensors are fixed to the annular kit by top screws, and the probe heads of the pressure sensors press on the bottom surfaces of the sensor slots. One side of the annular kit is provided with a mounting bearing and the other side is provided with a conductive slip ring. The outer ring of the conductive slip ring is fixed to the fixing device, and the inner ring of the conductive slip ring is fixed to the turntable rotating shaft.

4. The automatic balancing device according to claim 3, wherein The inner ring and the outer ring of the conductive slip ring are in contact through a plurality of conductive pins. A first wire passing through hole is provided on the turntable rotating shaft. A second wire passing through hole and a wire passing inner cavity are provided on the turntable main body. The second wire passing through hole is provided at the top of the turntable rotating shaft. The power supply wire and the signal wire of the automatic balancing device sequentially pass through the outer ring, the inner ring, the first wire passing through hole, the inner cavity of the turntable rotating shaft, the second wire passing through hole and the wire passing inner cavity of the conductive slip ring to be connected to the drive motor. The power supply wire and the signal wire of the automatic balancing device sequentially pass through the outer ring, the inner ring, the first wire passing through hole and the inner cavity of the turntable rotating shaft of the conductive slip ring to be connected to the pressure sensor.

5. The automatic balancing device according to claim 1, characterized in that, An installation through hole is provided inside the turntable main body. The drive motor is fixed to one end of the installation through hole. Internal threads are provided on the inner surface of the installation through hole. The end face of the rotating shaft is fixed to the drive motor through a thrust bearing. The rotating shaft is installed on the rotor of the drive motor. A sliding key is provided on the rotating shaft. The sliding key is installed on the inner surface of the balance slider. External threads matching the internal threads of the installation through hole are provided on the outer surface of the balance slider.

6. The automatic balancing device according to claim 1, characterized in that, The number of the drive motors and the rotating shafts is both 2. The installation through holes for installing the rotating shafts are vertically and stacked on top of each other inside the turntable main body. The drive motor is fixed to one end of the installation through hole. A counterweight matching the drive motor is provided at the other end of the installation through hole. One end of the rotating shaft is installed on the rotor of the drive motor and the other end is fixed to the counterweight.

7. The automatic balancing device according to claim 1, wherein The number of the drive motors is 4 and they are pairwise opposite. The rotating shafts connected to the opposite drive motors are on the same axis. A balance slider is provided on each rotating shaft. The 4 rotating shafts are in the same plane or the two opposite rotating shafts are in the same plane.

8. A control method, characterized in that The control method is used to control the automatic balancing device according to any one of claims 1 to 7.

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