Automatic rice field multi-element cultivation device

Abstract

The invention provides an automatic rice field multi-element cultivation device, which belongs to the technical field of cultivation and comprises a suspension body, a gravity center adjusting chassis is mounted on the upper portion of the suspension body, and a gravity center adjusting chamber is mounted on the gravity center adjusting chassis. According to the method, a lobster-late rice-river crab diversified composite planting and breeding mode is achieved, the diversified variety breeding effect of rice field comprehensive planting and breeding is achieved, and the risk of purely breeding one kind of organism is reduced; the lobsters and the river crabs in the rice pond field are intelligently captured and distinguished through the intelligent capturing camera, the feeding device is intelligently controlled to move to the position for feeding, and the feeding efficiency and effect are improved; meanwhile, in the moving process of the device, rice seedlings and other obstacles at the front end are overturned leftwards and rightwards through an overturning plate, the obstacles are prevented from influencing advancing of the device, the gravity center of the device is intelligently adjusted through a gravity center adjusting chamber in the device, and the situation that the device is overturned is prevented; during feeding, the inserting rods are inserted into a rice pond field to prevent the device from being knocked over when lobsters or river crabs fight for food.

Description

Technical Field

[0001] The present invention relates to the technical field of breeding technology, and in particular to an automated rice field multi-breeding device. Background Art

[0002] With the growth of global population and the increasing demand for resources, agriculture and aquaculture are facing the dual challenges of increasing production and resource utilization efficiency. As an efficient ecological agricultural model, rice field farming can not only improve the utilization efficiency of land and water resources, but also improve the ecological environment and increase farmers' income by combining rice cultivation and aquaculture.

[0003] In recent years, rice field aquaculture has become an important economic aquaculture variety in China, with higher and higher market prices and greater demand, thus driving the development of artificial aquaculture. However, there are certain problems with current rice field aquaculture: first, rice field aquaculture is single and risky; second, it is inconvenient to feed rice fields and difficult to aquaculture.

[0004] To sum up, it is necessary to improve the existing rice field farming. Summary of the invention

[0005] In order to comprehensively solve the above problems, especially to address the deficiencies in the prior art, the present invention provides an automated rice field multi-culture device that can comprehensively solve the problems of single rice field culture and inconvenient rice field feeding.

[0006] To achieve the above purpose, the present invention adopts the following technical means: The present invention provides an automated rice field multi-breeding device, comprising a suspension main body, a center of gravity adjustment chassis is installed on the upper part of the suspension main body, a center of gravity adjustment chamber is installed on the upper part of the center of gravity adjustment chassis, a center of gravity adjustment bottom cover is fastened on the upper part of the center of gravity adjustment chamber through threaded rotation, and a flip plate is provided on the upper part of the center of gravity adjustment bottom cover; direction adjustment modules are provided around the suspension main body, two groups of breeding feeding boxes are installed at the bottom of the suspension main body, an intelligent capture camera is installed at the bottom of the breeding feeding box, and support frames are installed at the four corners of the bottom of the breeding feeding box.

[0007] Furthermore, a first drive motor is installed on the side of the steering module, one end of the first drive motor is installed on the side of the suspension body, the output end of the first drive motor is connected to the first rotating rod, the front end of the first rotating rod is connected to the steering module, a second drive motor is installed on one side inside the steering module, the output end of the second drive motor is connected to the second rotating rod, a propeller is installed on the top of the second rotating rod, a first gear shaft is provided at the front end of the second rotating rod, a first connecting frame is provided on the top of the second drive motor, and the first connecting frame is fixedly connected to the inner wall of the steering module.

[0008] Furthermore, a third drive motor is arranged at the rear of the second drive motor, a third rotating rod is arranged at the output end of the third drive motor, a second gear shaft is arranged at the front end of the third rotating rod, a second connecting frame is arranged on the top of the third drive motor, and the second connecting frame is fixedly connected to the inner wall of the adjustment module.

[0009] Furthermore, a hydraulic pump is installed on the upper part of the center of gravity adjustment bottom cover, a hydraulic telescopic shaft is installed on the upper part of the hydraulic pump, a handle is provided on the top end of the hydraulic telescopic shaft, and a flash locator is provided on the upper part of the handle.

[0010] Furthermore, connecting frames are arranged around the upper part of the hydraulic telescopic shaft, a fourth drive motor is installed at the bottom of the connecting frame, a fourth rotating rod is arranged at the output end of the fourth drive motor, a flip plate is installed on the side of the fourth rotating rod, and an insertion rod is arranged at the bottom of the fourth rotating rod, and the insertion rod can be inserted into the bottom of the rice pond field.

[0011] Furthermore, the suspension body is provided with jacks around it, the bottom of the center of gravity adjustment bottom cover is provided with a knob groove, and the bottom end of the side of the breeding feeding box is provided with a feeding port.

[0012] Furthermore, a fifth drive motor is arranged at the center of gravity position inside the center of gravity adjustment chamber, a fifth rotating rod is arranged at the output end of the fifth drive motor, a sixth drive motor is arranged at the front end of the fifth rotating rod, a screw rod is arranged at the output end of the sixth drive motor, a slider is sleeved on the upper part of the screw rod, and a center of gravity ball is installed on the upper part of the slider.

[0013] Furthermore, a sliding seat is connected to the bottom of the slider, a swivel seat is provided at the front end of the screw rod, a functional frame is provided at one end of the swivel seat, a first connecting support shaft and a second connecting support shaft are respectively installed on both sides of the sliding seat, and the first connecting support shaft is connected to the fifth swivel rod, and the second connecting support shaft is connected to the functional frame.

[0014] Furthermore, a lubricating oil tank is provided at the bottom of the functional frame, an oil supply pump is provided at the side of the lubricating oil tank, an oil supply pipe is connected to the side of the oil supply pump, a transition shaft frame is provided at the bottom of the lubricating oil tank, and a sphere is provided at the bottom of the transition shaft frame.

[0015] Furthermore, a swivel is installed on the upper part of the sphere, a lubricating ball is nested at the bottom end of the swivel, an annular groove is provided at the bottom end of the center of gravity adjustment chamber, the swivel is nested in the annular groove, and a center of gravity offset detector is provided at the bottom of the fifth drive motor.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention realizes the diversified composite breeding mode of lobster-late rice-river crab, achieves the diversified variety breeding effect of comprehensive breeding in rice fields, reduces the risk of breeding only one kind of organism, and at the same time prolongs the breeding cycle and improves land utilization rate; the lobsters and river crabs in the rice pond field are intelligently captured and distinguished by the intelligent capture camera, and the feeding device is intelligently controlled to move to the position for feeding, thereby improving the feeding efficiency and effect; at the same time, during the movement of the device, the rice seedlings and other obstacles at the front end are flipped left and right by the flip plate to prevent the obstacles from affecting the advancement of the equipment, and the center of gravity adjustment chamber inside the device intelligently adjusts the center of gravity of the device to prevent it from tipping over; when feeding, the insertion rod is inserted into the rice pond field to prevent the lobster group or the river crab group from knocking over the device when competing for food. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is the front view of the present invention; Figure 3 is a top view of the present invention; Figure 4 It is a schematic diagram of the structure of the insertion rod of the present invention when it is inserted into a rice pond field; Figure 5 This is a front view of the insertion rod of the present invention when it is inserted into a rice pond field; Figure 6 It is a partial assembly diagram of the present invention; Figure 7 It is a schematic diagram of the internal structure of the center of gravity adjustment chamber of the present invention; Figure 8 The present invention is Figure 7 A partial enlarged view of the middle part; Fig. 9 is a cross-sectional view of the center of gravity adjustment chamber of the present invention; Fig.10 is a front view of a sectional view of the center of gravity adjustment chamber of the present invention; Fig.11 It is a structural schematic diagram of the direction adjustment module of the present invention; Fig.12 It is an assembly diagram of the direction adjustment module of the present invention.

[0018] In the figure: 1. Suspended body; 2. Center of gravity adjustment chassis; 3. Center of gravity adjustment chamber; 4. Center of gravity adjustment bottom cover; 5. Farming feeding box; 6. Intelligent capture camera; 7. Support frame; 8. Adjustment module; 9. Second gear shaft; 10. Hydraulic pump; 11. Fourth drive motor; 12. Handle; 13. Flash locator; 14. Rice pond field; 1111. Socket; 31. Fifth drive motor; 32. Sixth drive motor; 33. Center of gravity ball; 34. Function frame; 35. Slide seat; 36. Lubricating oil tank; 37. Sphere; 38. Ring groove; 39. Center of gravity offset detector; 41. Knob groove; 51. Feeding port; 81. First drive motor; 82. The second driving motor; 83, the third driving motor; 811, the first rotating rod; 821, the second rotating rod; 822, the propeller; 823, the first gear shaft; 824, the first connecting frame; 831, the third rotating rod; 832, the second connecting frame; 101, the hydraulic telescopic shaft; 102, the connecting frame; 111, the fourth rotating rod; 112, the flip plate; 113, the plug rod; 311, the fifth rotating rod; 321, the screw rod; 322, the slider; 323, the rotating seat; 351, the first connecting support shaft; 352, the second connecting support shaft; 361, the oil pump; 362, the oil pipe; 363, the transition shaft frame; 371, the swivel; 372, the lubricating ball. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings: Embodiment 1: As attached Figure 1 To Attachment Figure 3 As shown, in one embodiment of the present invention, an automated rice field multi-breeding device includes a suspended main body 1, a center of gravity adjustment chassis 2 is installed on the upper part of the suspended main body 1, a center of gravity adjustment chamber 3 is installed on the upper part of the center of gravity adjustment chamber 3, a center of gravity adjustment bottom cover 4 is fastened with a threaded rotation on the upper part of the center of gravity adjustment chamber 3, and a flip plate 112 is provided on the upper part of the center of gravity adjustment bottom cover 4; a direction adjustment module 8 is provided around the suspended main body 1, two groups of breeding feeding boxes 5 are installed at the bottom of the suspended main body 1, an intelligent capture camera 6 is installed at the bottom of the breeding feeding box 5, and support frames 7 are installed at the four corners of the bottom of the breeding feeding box 5.

[0020] As attached Fig. 9 To Attachment Fig.12As shown, a first driving motor 81 is installed on the side of the steering module 8, one end of the first driving motor 81 is installed on the side of the suspension body 1, the output end of the first driving motor 81 is connected to the first rotating rod 811, the front end of the first rotating rod 811 is connected to the steering module 8, a second driving motor 82 is installed on one side inside the steering module 8, the output end of the second driving motor 82 is connected to the second rotating rod 821, a propeller 822 is installed on the top of the second rotating rod 821, a first gear shaft 823 is provided at the front end of the second rotating rod 821, a first connecting frame 824 is provided on the top of the second driving motor 82, and the first connecting frame 824 is fixedly connected to the inner wall of the steering module 8.

[0021] A third driving motor 83 is arranged at the rear of the second driving motor 82, a third rotating rod 831 is arranged at the output end of the third driving motor 83, a second gear shaft 9 is arranged at the front end of the third rotating rod 831, a second connecting frame 832 is arranged on the upper part of the third driving motor 83, and the second connecting frame 832 is fixedly connected to the inner wall of the steering module 8.

[0022] In this example, the four groups of steering modules 8 automatically control the devices to move forward, backward, left, right, and up and down. During the movement, the first gear shaft 823 and the second gear shaft 9 in the steering module 8 rotate simultaneously to drive lobsters and river crabs into the room and prevent debris from entering.

[0023] Embodiment 2: As attached Figure 4 To Attachment Figure 6 As shown, in one embodiment of the present invention, specifically, a hydraulic pump 10 is installed on the upper part of the center of gravity adjustment bottom cover 4, a hydraulic telescopic shaft 101 is installed on the upper part of the hydraulic pump 10, a handle 12 is arranged on the top of the hydraulic telescopic shaft 101, and a flash locator 13 is arranged on the upper part of the handle 12.

[0024] A connecting frame 102 is arranged around the upper part of the hydraulic telescopic shaft 101, a fourth driving motor 11 is installed at the bottom of the connecting frame 102, a fourth rotating rod 111 is arranged at the output end of the fourth driving motor 11, a flip plate 112 is installed on the side of the fourth rotating rod 111, and an insertion rod 113 is arranged at the bottom of the fourth rotating rod 111, and the insertion rod 113 can be inserted into the bottom of the rice pond field 14.

[0025] Specifically, during the movement of the device, the fourth drive motor 11 is started forward and reversely, and the fourth drive motor 11 drives the fourth rotating rod 111 to rotate left and right, and the flip angle is between -90° and 90°. The fourth rotating rod 111 drives the flip plate 112 to flip left and right to hit the debris encountered during the movement to prevent it from affecting the movement of the device.

[0026] Furthermore, the intelligent capture camera 6 at the bottom of the device intelligently monitors the situation at the bottom of the rice pond field 14, intelligently analyzes whether the organisms encountered are lobsters or river crabs, controls the corresponding breeding feeding box 5 to feed, and before feeding, controls the hydraulic pump 10 to start, the hydraulic pump 10 drives the hydraulic telescopic shaft 101 to retract, and the hydraulic telescopic shaft 101 drives the insertion rod 113 to pass through the insertion hole 1111 and then insert it into the bottom of the rice pond field 14 to stabilize the equipment, thereby preventing the lobsters or river crabs from knocking over the device when competing for food.

[0027] As attached Figure 5 To Attachment Figure 8 As shown, the suspension body 1 is provided with jacks 1111 around it, the bottom of the center of gravity adjustment bottom cover 4 is provided with a knob groove 41, and the bottom end of the side of the breeding feeding box 5 is provided with a feeding port 51.

[0028] As attached Figure 7 To Attachment Fig.11 As shown, a fifth driving motor 31 is arranged at the center of gravity position inside the center of gravity adjustment chamber 3, a fifth rotating rod 311 is arranged at the output end of the fifth driving motor 31, a sixth driving motor 32 is arranged at the front end of the fifth rotating rod 311, a screw rod 321 is arranged at the output end of the sixth driving motor 32, a slider 322 is sleeved on the upper part of the screw rod 321, and a center of gravity ball 33 is installed on the upper part of the slider 322.

[0029] A slide seat 35 is connected to the bottom of the slider 322, a swivel seat 323 is provided at the front end of the screw rod 321, a functional frame 34 is provided at one end of the swivel seat 323, and a first connecting support shaft 351 and a second connecting support shaft 352 are respectively installed on both sides of the slide seat 35, and the first connecting support shaft 351 is connected to the fifth rotating rod 311, and the second connecting support shaft 352 is connected to the functional frame 34.

[0030] A lubricating oil tank 36 is disposed at the bottom of the functional frame 34 , an oil pump 361 is disposed on the side of the lubricating oil tank 36 , a side of the oil pump 361 is connected to an oil pipe 362 , a transition shaft frame 363 is disposed at the bottom of the lubricating oil tank 36 , and a sphere 37 is disposed at the bottom of the transition shaft frame 363 .

[0031] A rotating ring 371 is installed on the upper part of the sphere 37, and a lubricating ball 372 is nested at the bottom end of the rotating ring 371. An annular groove 38 is provided at the bottom end of the center of gravity adjustment chamber 3, and the rotating ring 371 is nested in the annular groove 38. A center of gravity offset detector 39 is provided at the bottom of the fifth drive motor 31.

[0032] In this embodiment, when controlling the movement of the center of gravity ball 33, the fifth drive motor 31 is started, the fifth drive motor 31 drives the fifth rotating rod 311 to rotate, and the fifth rotating rod 311 drives the structure connected to it to rotate including the center of gravity ball 33, thereby realizing a 360° rotation of the center of gravity ball 33. During the rotation, the rotating ring 371 rotates synchronously along the annular groove 38, the lubricating ball 372 at the bottom of the sphere 37 rolls in the annular groove 38, and the oil pump 361 on the side of the lubricating oil tank 36 is started intermittently, and lubricating oil is added to the annular groove 38 through the oil supply pipe 362 to reduce friction and improve rotation efficiency.

[0033] Furthermore, the sixth driving motor 32 is started, the sixth driving motor 32 drives the screw rod 321 to rotate, and the screw rod 321 drives the slider 322 to move forward and backward, thereby controlling the center of gravity ball 33 on the upper part of the slider 322 to move forward and backward.

[0034] How it works Before use, the present invention adds sufficient amounts of lobster feed and crab feed to the two groups of breeding feeding boxes 5 respectively. When in use, the device is placed in the rice pond field 14, the device is started, and the four groups of direction adjustment modules 8 automatically control the device to move forward, backward, left, right, and up and down. During the movement, the first gear shaft 823 and the second gear shaft 9 in the direction adjustment module 8 rotate simultaneously to drive the lobsters and crabs into, and prevent debris from entering.

[0035] During the movement of the device, the fourth drive motor 11 is started forward and reversely, and the fourth drive motor 11 drives the fourth rotating rod 111 to rotate left and right, and the flip angle is between -90° and 90°. The fourth rotating rod 111 drives the flip plate 112 to flip left and right to hit the debris encountered during the movement to prevent it from affecting the movement of the device.

[0036] At the same time, the intelligent capture camera 6 at the bottom of the device intelligently monitors the situation at the bottom of the rice pond field 14, intelligently analyzes whether the organisms encountered are lobsters or river crabs, and controls the corresponding breeding feeding box 5 to feed. Before feeding, the hydraulic pump 10 is controlled to start, and the hydraulic pump 10 drives the hydraulic telescopic shaft 101 to retract. The hydraulic telescopic shaft 101 drives the insertion rod 113 to pass through the insertion hole 1111 and then insert it into the bottom of the rice pond field 14 to stabilize the equipment, thereby preventing the lobsters or river crabs from knocking over the device when competing for food.

[0037] In order to prevent the device from tipping over due to center of gravity shift, during use, the center of gravity shift detector 39 on the bottom side of the center of gravity adjustment chamber 3 monitors the center of gravity in real time. When the center of gravity shifts, the center of gravity ball 33 inside the center of gravity adjustment chamber 3 begins to move to adjust the center of gravity of the device.

[0038] When controlling the movement of the center of gravity ball 33, the fifth drive motor 31 is started, and the fifth drive motor 31 drives the fifth rotating rod 311 to rotate, and the fifth rotating rod 311 drives the structure connected to it to rotate including the center of gravity ball 33, thereby realizing a 360° rotation of the center of gravity ball 33. During the rotation, the rotating ring 371 rotates synchronously along the annular groove 38, and the lubricating ball 372 at the bottom of the sphere 37 rolls in the annular groove 38, and the oil pump 361 on the side of the lubricating oil tank 36 is started intermittently, and lubricating oil is added to the annular groove 38 through the oil supply pipe 362 to reduce friction and improve rotation efficiency.

[0039] At the same time, the sixth driving motor 32 is started, the sixth driving motor 32 drives the screw rod 321 to rotate, and the screw rod 321 drives the slider 322 to move forward and backward, thereby controlling the center of gravity ball 33 on the upper part of the slider 322 to move forward and backward.

[0040] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0041] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automated rice field multi-culture device, comprising a suspended body (1), characterized in that: A center of gravity adjustment chassis (2) is installed on the upper part of the suspension body (1); a center of gravity adjustment chamber (3) is installed on the upper part of the center of gravity adjustment chassis (2); a center of gravity adjustment bottom cover (4) is fastened to the upper part of the center of gravity adjustment chamber (3) by means of a threaded rotation; and a flip plate (112) is provided on the upper part of the center of gravity adjustment bottom cover (4); Direction adjustment modules (8) are arranged around the suspension body (1), two groups of breeding feeding boxes (5) are installed at the bottom of the suspension body (1), intelligent capture cameras (6) are installed at the bottom of the breeding feeding boxes (5), and support frames (7) are installed at the four corners of the bottom of the breeding feeding boxes (5).

2. The automated rice field multi-culture device according to claim 1, characterized in that: A first drive motor (81) is mounted on the side of the steering module (8); one end of the first drive motor (81) is mounted on the side of the suspension body (1); an output end of the first drive motor (81) is connected to a first rotating rod (811); a front end of the first rotating rod (811) is connected to the steering module (8); a second drive motor (82) is mounted on one side of the steering module (8); an output end of the second drive motor (82) is connected to a second rotating rod (821); a propeller (822) is mounted on the top of the second rotating rod (821); a first stop shaft (823) is arranged at the front end of the second rotating rod (821); a first connecting frame (824) is arranged on the top of the second drive motor (82); and the first connecting frame (824) is fixedly connected to the inner wall of the steering module (8).

3. The automated rice field multi-culture device according to claim 2, characterized in that: A third drive motor (83) is arranged at the rear of the second drive motor (82), a third rotating rod (831) is arranged at the output end of the third drive motor (83), a second gear shaft (9) is arranged at the front end of the third rotating rod (831), a second connecting frame (832) is arranged at the top of the third drive motor (83), and the second connecting frame (832) is fixedly connected to the inner wall of the steering module (8).

4. The automated rice field multi-culture device according to claim 1, characterized in that: A hydraulic pump (10) is installed on the top of the center of gravity adjustment bottom cover (4), a hydraulic telescopic shaft (101) is installed on the top of the hydraulic pump (10), a handle (12) is provided at the top end of the hydraulic telescopic shaft (101), and a flash positioner (13) is provided on the top of the handle (12).

5. The automated rice field multi-culture device according to claim 4, characterized in that: A connecting frame (102) is arranged around the upper part of the hydraulic telescopic shaft (101), a fourth drive motor (11) is installed at the bottom of the connecting frame (102), a fourth rotating rod (111) is arranged at the output end of the fourth drive motor (11), a flip plate (112) is installed on the side of the fourth rotating rod (111), and an insertion rod (113) is arranged at the bottom of the fourth rotating rod (111), and the insertion rod (113) can be inserted into the bottom of the rice pond field (14).

6. The automated rice field multi-culture device according to claim 1, characterized in that: The suspension body (1) is provided with plug holes (1111) around its periphery, the center of gravity adjustment bottom cover (4) is provided with a knob groove (41) at its bottom, and the breeding feeding box (5) is provided with a feeding port (51) at the bottom end of its side.

7. The automated rice field multi-culture device according to claim 1, characterized in that: A fifth drive motor (31) is arranged at the center of gravity position inside the center of gravity adjustment chamber (3); a fifth rotating rod (311) is arranged at the output end of the fifth drive motor (31); a sixth drive motor (32) is arranged at the front end of the fifth rotating rod (311); a screw rod (321) is arranged at the output end of the sixth drive motor (32); a slider (322) is sleeved on the upper part of the screw rod (321); and a center of gravity ball (33) is installed on the upper part of the slider (322).

8. The automated rice field multi-culture device according to claim 7, characterized in that: The bottom of the slider (322) is connected to a slide seat (35), the front end of the screw rod (321) is provided with a rotating seat (323), one end of the rotating seat (323) is provided with a functional frame (34), and a first connecting support shaft (351) and a second connecting support shaft (352) are respectively installed on both sides of the slider (35), and the first connecting support shaft (351) is connected to the fifth rotating rod (311), and the second connecting support shaft (352) is connected to the functional frame (34).

9. The automated rice field multi-culture device according to claim 8, characterized in that: A lubricating oil tank (36) is arranged at the bottom of the functional frame (34), an oil supply pump (361) is arranged at the side of the lubricating oil tank (36), and an oil supply pipe (362) is connected to the side of the oil supply pump (361). A transition shaft frame (363) is arranged at the bottom of the lubricating oil tank (36), and a sphere (37) is arranged at the bottom of the transition shaft frame (363).

10. The automated rice field multi-culture device according to claim 9, characterized in that: A rotating ring (371) is installed on the upper part of the spherical body (37), a lubricating ball (372) is nested at the bottom end of the rotating ring (371), an annular groove (38) is provided at the bottom end of the center of gravity adjustment chamber (3), the rotating ring (371) is nested in the annular groove (38), and a center of gravity deviation detector (39) is provided at the bottom of the fifth drive motor (31).

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