The invention discloses an integrated ultrasonic motor automatic balancing device, which comprises an end cover, a shell, a partition plate, a first ultrasonic motor, a first special-shaped balancingweight, a second ultrasonic motor, a second special-shaped balancing weight, a supporting disc, a battery, a first circuit board and a second circuit board. The interior of the shell is divided into two same spaces by the partition plate. The first ultrasonic motor, the first special-shaped balancing weight and the end cover are installed in the left space. The first ultrasonic motor is fixed to the center of the left side of the partition plate. The first special-shaped balancing weight is fixed to a first motor shaft and stretches out of the first motor shaft to be supported by the end cover. The second ultrasonic motor, the second special-shaped balancing weight and the supporting disc are arranged in the right space. The second ultrasonic motor is fixed to the center of the right sideof the partition plate. The second special-shaped balancing weight is fixed to a second motor shaft and stretches out of the second motor shaft to be supported by the supporting disc. The first circuit board, the second circuit board and the battery are symmetrically fixed to the outer side of the supporting disc. The first circuit board and the second circuit board are connected with the first ultrasonic motor and the second ultrasonic motor respectively.