Propulsion device

Abstract

A propulsion device (1) is provided with a thrust generator (11) and a counter-rotating force generator (70). The thrust generator is configured to generate a thrust force in one direction perpendicular to the central axis and to generate a rotational force in a circumferential direction. The counter-rotating force generator is coupled to the thrust generator and is configured to generate a rotating force in a direction opposite to the rotating force generated by the thrust generator.

Description

Technical Field The present disclosure relates to a propulsion device. This application claims priority to Japanese Patent Application No. 2022-161897 filed in Japan on October 6, 2022, the entire contents of which are incorporated herein by reference. Background Art One possible propulsion device is a propulsion device that generates thrust by injecting combustion gas (see, for example, Patent Document 1). Patent Literature Patent Document 1: JP2004-058856A Summary of the invention (Technical Issues) Such a propulsion device requires fuel, a storage tank, and the like, and thus problems such as an increase in weight and size may occur. The present disclosure has been made in view of the above-described circumstances, and aims to provide a propulsion device capable of propulsion without injecting combustion gas or the like. (Solution to the problem)

[0001] A propulsion device comprises a thrust generator and a reverse rotation force generator, wherein The thrust generator comprises: a rotor supported so as to be rotatable in a circumferential direction about the central axis; a housing for accommodating the rotor; a thrust generator motor that rotates the rotor in the circumferential direction; and a holder for holding the thrust generator motor, wherein The housing and the holder are coupled to each other so as to be relatively displaceable, The rotor comprises: a body portion located at the center in the radial direction and coupled to the thrust generator motor; a magnetic body and a non-magnetic body having a weight different from that of the magnetic body, each of the magnetic body and the non-magnetic body being provided at a position sandwiching the body portion in the radial direction; and A pair of elastic couplings, the pair of elastic couplings respectively coupling the main body to the magnetic body and the non-magnetic body and being formed to be elastically deformable, wherein providing an electrical conductor in a portion along a circumferential direction of the housing, The thrust generator is configured to generate thrust in a direction perpendicular to the central axis and to generate a rotational force in the circumferential direction, and The reverse rotational force generator is coupled to the thrust generator and is configured to generate a rotational force in a direction opposite to the rotational force generated by the thrust generator.

[0002] A propulsion device, comprising: The first mass body; The second mass body; a rotational motion excitation portion configured to receive energy supply to excite the rotational motion of the first mass body; a rotational kinetic energy transmitting portion configured to transmit rotational kinetic energy between the first mass body and the second mass body; a translational kinetic energy transfer portion configured to transfer translational kinetic energy between the first mass body and the second mass body; and a rotation limiting portion configured to limit the rotation of a holding portion holding the rotational motion exciting portion, the rotation being caused by the rotational motion excited by the rotational motion exciting portion, wherein The first mass body and the second mass body each have a rotational degree of freedom independent of each other, and are coupled to each other so as to be vibrable in at least one direction. (Beneficial Effects) According to the present disclosure, it is possible to provide a propulsion device capable of propulsion without injecting combustion gas or the like. BRIEF DESCRIPTION OF THE DRAWINGS In the attached picture: Figure 1 is a side view of a propulsion device according to a first embodiment of the present disclosure; Figure 2 yes Figure 1 A perspective view of the propulsion device shown; Figure 3 yes Figure 1 A perspective view of the propulsion device shown; Figure 4 yes Figure 1 A longitudinal cross-sectional view of the thrust generator shown; Figure 5 It is along Figure 4 Observed in the cross section along line III-III Figure 4 A cross-sectional view of a thrust generator shown in ; Figure 6 is a side view of a propulsion device according to a second embodiment of the present disclosure; Figure 7 yes Figure 6 A perspective view of the propulsion device shown; Figure 8 yes Figure 6 A plan view of the propulsion device shown; Fig. 9 is a side view of a propulsion device according to a third embodiment of the present disclosure; Fig.10 yes Fig. 9 A perspective view of the propulsion device shown; FIG. 11A to FIG. 11C Each is an explanatory diagram for explaining the relationship between a magnetic field and an eddy current; FIG. 12A to FIG. 12C Each is an explanatory diagram for explaining the relationship between the particle radius and the potential energy; Fig.13A and 13B Each is an explanatory diagram for explaining the operating principle of a thrust generator; Fig.14A and 14B Each is an explanatory diagram for explaining an operating principle of a thrust generator; and Fig.15 This is an explanatory diagram for explaining the operating principle of the thrust generator. DETAILED DESCRIPTION The propulsion device according to the present disclosure can be applied to all types of propulsion devices for moving objects (such as alternatives to tires and rocket engines, etc.), and in particular, it can be applied to all types of propulsion devices used in environments where it is difficult to propel objects by friction (such as on ice or in space). Hereinafter, embodiments of a propulsion device according to the present disclosure will be described by way of examples with reference to the accompanying drawings. In each of the drawings, like parts and components are represented by like symbols / numerals. [First embodiment] The following is a description of a propulsion device 1 according to a first embodiment of the present disclosure, with reference to the drawings. Figures 1 to 5 1 is a diagram for explaining a propulsion device 1 according to a first embodiment of the present disclosure. The propulsion device 1 can be applied to all types of propulsion devices for moving objects (such as tires and rocket engine substitutes, etc.), and in particular, it can be applied to all types of propulsion devices used in environments where it is difficult to propel objects by friction (such as on ice or in space). The propulsion device 1 is configured to convert a rotational motion (generated by a motor, for example) into a translational motion (in a rigid body, etc.) (a motion in which each point constituting the rigid body moves in the same direction). When viewed as a whole, the propulsion device 1 is configured to translate (i.e., move forward in a straight line) in a predetermined direction (more specifically, in a predetermined direction perpendicular to the central axis O of the thrust generator 11) without (i.e., almost or not at all) rotating. like Figures 1 to 3 As shown, in this embodiment, the propulsion device 1 includes a thrust generator 11 , a reverse rotation force generator 70 , a coupling portion 50 and an adjustment portion 60 . For convenience, an XYZ Cartesian coordinate system fixed to the thrust generator 11 is defined herein, as indicated by the arrows in each figure. Herein, as indicated by the arrows in each figure, the direction parallel to the central axis O of the thrust generator 11 is referred to as the "axial direction Z", and one side in the axial direction Z is referred to as the "axial direction first side Z1", and the other side in the axial direction Z is referred to as the "axial direction second side Z2". For example, the axial direction second side Z2 of the thrust generator 11 may be placed on the ground or other surfaces, in which case the axial direction Z will be oriented vertically and the axial direction second side Z2 will be oriented downward. However, the axial direction Z may be oriented in any direction. Furthermore, herein, unless otherwise specified, the radial direction and the circumferential direction around the center axis O of the thrust generator 11 are simply referred to as the "radial direction" and the "circumferential direction", respectively. herein, unless otherwise specified, the side of the thrust generator 11 closer to the center axis O is referred to as the "radial inner side" or the "inner peripheral side", etc., and the side farther from the center axis O of the thrust generator 11 is referred to as the "radial outer side" or the "outer peripheral side", etc. herein, unless otherwise specified, the direction perpendicular to the center axis O of the thrust generator 11 is sometimes referred to as the "axial vertical direction". In addition, in this article, as shown by the arrows in the figure, one of the radial directions centered on the central axis O is referred to as the "depth direction Y", and one side in the depth direction Y is referred to as the "depth direction first side Y1", and the other side in the depth direction Y is referred to as the "depth direction second side Y2". In addition, as indicated by arrows in the drawings, a direction perpendicular to the axial direction Z and the depth direction Y is referred to herein as a “width direction X”. (Structure of thrust generator 11) First, the structure of the thrust generator 11 will be described. Figure 4 and Figure 5 Only the thrust generator 11 is shown. The thrust generator 11 generates thrust in one direction perpendicular to the central axis O, and when viewed as a whole, is configured to translate in one direction perpendicular to the central axis O. In addition, the thrust generator 11 is also configured to generate a circumferential rotation force, and a holder 16 of the thrust generator 11 described later is configured to rotate in the circumferential direction. like Figures 1 to 5 As shown, the thrust generator 11 includes a rotor 13 , a housing 14 , a thrust generator motor 15 and a retainer 16 . The rotor 13 is supported so as to be rotatable about the center axis O in the circumferential direction. like Figure 4 and Figure 5 As shown, the housing 14 includes a first storage portion 35, a first coupling portion 36, and a second connection portion 39. The housing 14 is formed of an insulating material such as a synthetic resin. The first storage portion 35 of the housing 14 includes a pair of substrate portions 37 spaced apart in the axial direction Z, and a first connection portion 38 connecting the outer peripheral edge portions of the pair of substrate portions 37 in the axial direction Z. The substrate portion 37 is formed in a disk shape and is arranged coaxially with the central axis O. The plurality of first connection portions 38 are arranged at intervals in the circumferential direction. The rotor 13 is accommodated in a space surrounded by the pair of substrate portions 37 and the plurality of first connection portions 38, and is rotatable in the circumferential direction while maintaining a non-contact state with the substrate portion 37 and the first connection portion 38. The electric conductor 17 is provided on a portion of the housing 14 in the circumferential direction. The electric conductor 17 is provided on the radially outer side of the rotor 13. The electric conductor 17 is formed as a curved plate, the front and rear surfaces of which face the axial direction Z and extend in the circumferential direction. When viewed from the axial direction Z, the center of curvature of the inner circumferential surface of the electric conductor 17 almost coincides with the central axis O. The outer periphery of the electric conductor 17 protrudes outward from the housing 14 in the radial direction. The electric conductor 17 is fixed between the pair of base plate portions 37 in the axial direction Z. The electric conductor 17 is made of, for example, an aluminum alloy. The electric conductor 17 extends around the central axis O, for example, in a range of 0° or more to 180° or less, with the central axis O as the center. When viewed from the axial direction Z, the center of gravity of the housing 14 is located away from a straight line connecting the center in the circumferential direction of the electric conductor 17 and the central axis O. The depth direction Y is parallel to the straight line, and in the depth direction Y, the side where the electrical conductor 17 is positioned relative to the central axis O is referred to as the depth direction first side Y1, and the opposite side is referred to as the depth direction second side Y2 ( Figure 5 ). The first coupling portion 36 of the housing 14 is provided on the first side Z1 in the axial direction relative to the first storage portion 35 of the housing 14 . like Figure 4 As shown, a coupling hole 36a is formed in the first coupling portion 36 of the housing 14, through which a second coupling portion 43 (to be described later) of the retainer 16 is inserted. The coupling hole 36a is arranged coaxially with the center axis O. The first coupling portion 36 is coupled to the first storage portion 35 via a second connecting portion 39 of the housing 14 extending in the axial direction. The plurality of second connection portions 39 of the housing 14 are arranged at intervals in the circumferential direction. Figures 1 to 5 In the example shown, the second connection portion 39 is provided with a total of two parts, one part on each side of the central axis O in the radial direction. The second connection portion 39 is arranged at a position about 90° from the center of the electrical conductor 17 in the circumferential direction with the central axis O as the center. In other words, the second connection portion 39 is provided on both sides in the width direction X ( Figures 1 to 3 ). like Figure 4As shown, the holder 16 includes a second storage portion 41, a mounting portion 42, and a second coupling portion 43, and receives a rotational force generated when the thrust generator motor 15 is driven. The holder 16 is made of an insulating material such as a synthetic resin. The second storage portion 41 of the retainer 16 is provided on the second side Z2 in the axial direction of the first coupling portion 36 of the housing 14. An axial gap is provided between the surface on the first side Z1 in the axial direction of the second storage portion 41 of the retainer 16 and the surface on the second side Z2 in the axial direction of the first coupling portion 36 of the housing 14. The thrust generator motor 15 is accommodated and retained in the second storage portion 41 of the retainer 16. The end portion on the second side Z2 in the axial direction of the second storage portion 41 is inserted into the through hole 37a formed in the substrate portion 37 on the first side Z1 in the axial direction of the pair of substrate portions 37 on both sides in the axial direction Z. The output shaft 15a of the thrust generator motor 15 protrudes from the second storage portion 41 toward the second side Z2 in the axial direction and is coupled to the rotor 13. As a result, the thrust generator motor 15 supports the rotor 13 so that the rotor 13 can rotate in the circumferential direction. The mounting portion 42 of the retainer 16 is provided on the first side Z1 in the axial direction of the first coupling portion 36 of the housing 14. An axial gap is provided between the surface on the second side Z2 in the axial direction of the mounting portion 42 of the retainer 16 and the surface on the first side Z1 in the axial direction of the first coupling portion 36 of the housing 14. The protruding cylinder 42b is formed on the second side Z2 in the axial direction of the mounting portion 42 of the retainer 16, protrudes toward the second side Z2 in the axial direction, and is inserted into the annular groove 36b formed on the first side Z1 in the axial direction of the first coupling portion 36 of the housing 14 with a gap therebetween. The second coupling portion 43 of the retainer 16 couples the second storage portion 41 of the retainer 16 and the mounting portion 42 of the retainer 16. The second coupling portion 43 of the retainer 16 extends in the axial direction Z and is inserted into the coupling hole 36a of the first coupling portion 36 of the housing 14. The second coupling portion 43 of the retainer 16 is arranged coaxially with the center axis O. A gap is provided between the outer circumferential surface of the second coupling portion 43 and the inner circumferential surface of the coupling hole 36a. Recesses are formed at the opening peripheral portion of the coupling hole 36a on the surface on the first side Z1 in the axial direction of the first coupling portion 36 of the housing 14 and on the surface on the first side Z1 in the axial direction of the second storage portion 41 of the retainer 16, and an annular rubber body 44 is fitted into each recess, respectively. The second coupling portion 43 of the retainer 16 is fitted into these rubber bodies 44. The rubber body 44 fitted into the recess on the surface on the first side Z1 in the axial direction of the first coupling portion 36 of the housing 14 contacts the surface on the second side Z2 in the axial direction of the mounting portion 42 of the retainer 16. The rubber body 44 fitted into the recess on the first side Z1 in the axial direction of the second storage portion 41 of the retainer 16 contacts the surface on the second side Z2 in the axial direction of the first coupling portion 36 of the housing 14. The housing 14 and the holder 16 are coupled to each other so as to be elastically displaceable via the rubber body 44. Alternatively, the housing 14 and the holder 16 may be coupled to each other so as to be elastically displaceable without using the rubber body 44. Furthermore, there is a degree of freedom in rotation between the housing 14 and the holder 16 , in other words, the housing 14 is mounted on the holder 16 so as to be freely rotatable. like Figure 5 As shown, the rotor 13 includes a body portion 21 , a magnetic body 22 , a non-magnetic body 23 , and a pair of elastic coupling members 24 . The body portion 21 of the rotor 13 is located at the center in the radial direction and is connected to the output shaft 15a of the thrust generator motor 15. The body portion 21 is made of an insulating material such as a synthetic resin. The magnetic body 22 and the non-magnetic body 23 of the rotor 13 have different weights and are each separately arranged at a position that clamps the body portion 21 of the rotor 13 in the radial direction. The magnetic body 22 is composed of a plurality of magnets arranged in the radial direction. The plurality of magnets are arranged so that different magnetic poles are adjacent to each other in the radial direction. The weight of the non-magnetic body 23 is heavier than the weight of the magnetic body 22. The weight of the non-magnetic body 23 may be equal to or less than the weight of the magnetic body 22. The pair of elastic coupling members couple the body portion to the magnetic body and the non-magnetic body, respectively, and are formed to be elastically deformable. The elastic coupling member 24 is made of an insulating material such as a synthetic resin. The elastic coupling 24 includes a pair of third coupling portions (coupling portions) 31 and a peripheral surface portion 32 , and thus presents a closed curve when viewed from the axial direction when the pair of elastic couplings 24 is coupled to the body portion 21 . The third coupling portions 31 of the pair of elastic couplings 24 of the rotor 13 extend in a direction away from each other in the circumferential direction as they move outward in the radial direction from the body portion 21 of the rotor 13. The third coupling portion 31 is formed in a plate-like shape with the front and rear surfaces facing the circumferential direction. When viewed from the axial direction, the third coupling portion 31 extends in a straight line. The peripheral surface portion 32 of the elastic coupling 24 of the rotor 13 connects the radial outer ends of the pair of third coupling portions of the elastic coupling 24 of the rotor 13 and extends in the circumferential direction. The peripheral surface portion 32 is formed in a plate shape with the front and rear surfaces facing the radial direction. The magnetic body 22 and the non-magnetic body 23 are provided on the peripheral surface portion 32. In the illustrated example, the magnetic body 22 and the non-magnetic body 23 are provided at the circumferential center of the peripheral surface portion 32. The radial rigidity of the peripheral surface portion 32 is lower than that of the third coupling portion 31. During the rotation of the rotor 13 , when the magnetic body 22 reaches the circumferential position where the electric conductor 17 is provided, the magnetic field in the electric conductor 17 changes due to the close proximity of the magnetic body 22 to the electric conductor 17 in the radial direction. During the process of the rotor 13 rotating in the circumferential direction, when the magnetic body 22 and the non-magnetic body 23 are aligned with the electric conductor 17 in the depth direction Y, the rotor 13, the thrust generator motor 15 and the retainer 16 vibrate in the radial direction so that they are displaced relative to the housing 14 in the direction from the central axis O toward the non-magnetic body 23 when viewed from the axial direction Z. This configuration can be obtained by adjusting the weight of the magnetic body 22 and the non-magnetic body 23, the rigidity of the elastic coupling 24, the rotation speed of the rotor 13, and the like. Since the non-magnetic body 23 is heavier than the magnetic body 22, when the magnetic body 22 and the non-magnetic body 23 are aligned with the electrical conductor 17 in the depth direction Y during the process of the rotor 13 rotating in the circumferential direction, it is easy to obtain a structure in which the rotor 13, the thrust generator motor 15 and the retainer 16 vibrate in the radial direction, so that when viewed from the axial direction Z, they are displaced relative to the housing 14 in the direction from the center axis O toward the non-magnetic body 23, and a large thrust is generated. Since the housing 14 and the retainer 16 are connected to each other so as to be elastically displaceable, when the rotor 13 rotates in the circumferential direction, the housing 14 and the retainer 16 can be smoothly displaced relative to each other. Since the elastic connecting member 24 includes the pair of third connecting parts 31 and the peripheral surface part 32; and when the elastic connecting member 24 is connected to the main body part 21, it presents a closed curve when observed from the axial direction, so the stiffness of the elastic connecting member 24 can be easily adjusted, and a large amount of radial elastic deformation can be ensured while reducing the load. (Working principle of thrust generator 11) Here, reference will be made to FIG. 11 to FIG. Fig.15 The operating principle of the thrust generator 11 is explained. The operating principle of the thrust generator 11 is not completely clear, but is considered as follows. First, the relationship between the magnetic field and the eddy current will be described. like Fig.11A and Fig. 11BAs shown in FIG. 1 , when a conductor is placed in a changing magnetic field, current flows in the conductor in a direction opposite to the change in the magnetic field. If the conductor is a non-magnetic body (such as aluminum), there is usually no attractive force between the magnet and the conductor, but eddy currents are generated, so that an attractive force is generated when the magnet moves away, and a repulsive force is generated when the magnet approaches. like Fig. 11C As shown, when the magnets move in parallel, the brake is applied. Next, the relationship between the radius of a particle and the potential energy will be described. As shown in Figure 12, in general, in order to move the orbit of the rotating mass inward, additional power (workload) needs to be provided, so the kinetic energy after the orbit moves inward will be greater. On the other hand, power (workload) is released to move the orbit outward, so the kinetic energy after the orbit moves outward becomes smaller. This energy is determined by inertia (mass × radius 2 ) and the rotation speed of the rotating body. In addition, since kinetic energy can be added or removed by changing its orbit, the kinetic energy of the rotating body can be considered as the potential energy of the rotating body from the perspective of radial motion. When the rotating body rotates, the potential energy of the rotating body can be changed by changing the orbit of the particle. The above contents described with reference to FIGS. 11 and 12 may help to understand the operating principle of the thrust generator 11 . refer to Fig.13A In the thrust generator 11, when the thrust generator motor 15 starts to rotate, the housing 14 and the rotor 13 start to rock in circular motion and rotational motion. The magnetic body 22 and the non-magnetic body 23 are attached to the rotor 13 facing each other as a counterweight. The magnetic body 22 is adjusted to be slightly lighter, so the housing 14 and the rotor 13 vibrate relative to each other due to the imbalance of mass. refer to Fig. 13B , when the magnetic body 22 as a rotating body passes near the electric conductor 17 (hereinafter referred to as the "third quadrant"), since the housing 14 is attached so as to be freely rotatable, the housing 14 slowly rotates in the same direction as the magnetic body 22 due to the effect of the induced electromotive force generated in the electric conductor 17. At this time, the rotational energy of the magnetic body 22 is lost, and the rotational energy of the housing 14 is increased. refer to Fig.14A When the magnetic body 22 enters the third quadrant, a repulsive motion is generated between the magnetic body 22 and the electrical conductor 17. More specifically, when the magnetic body 22 enters the third quadrant, in the process of reaching the third quadrant, the rotation speed of the magnetic body 22 has become greater than normal (average of one rotation), and the rotation speed of the housing 14 has become less than normal. When the magnetic body 22 enters the vicinity of the electrical conductor 17, a repulsive force is generated between the magnetic body 22 and the electrical conductor 17. Therefore, the magnetic body 22 receives a force toward the inner peripheral side, and the electrical conductor 17 receives a force toward the outer peripheral side. At this time, the rotor 13 having the magnetic body 22 has a small amount of orbital change toward the inner peripheral side because the potential is on an upward slope (additional work load is required). On the other hand, the housing 14 having the electrical conductor 17 has a large amount of orbital change toward the outer peripheral side because the potential is on a downward slope (work load is released). refer to Fig. 14B When the magnetic body 22 passes through the third quadrant, the rotational energy of the rotor 13 is transmitted to the housing 14 . More specifically, when the magnetic body 22 passes through the third quadrant, the action of the eddy current occurring between the conductor 17 and the magnetic body 22 causes a force acting on the magnetic body 22 in a direction to reduce its rotational speed, and a force acting on the shell 14 in a direction to increase its rotational speed, which is proportional to the difference in rotational speed between the magnetic body 22 and the shell 14. In other words, the magnetic body 22 transfers the rotational momentum to the housing 14 . When the magnetic body 22 passes near the electrical conductor 17, the rotation speed of the rotor 13 decreases, and thus the potential gradient thereof decreases. When the magnetic body 22 passes near the electrical conductor 17, the rotation speed of the housing 14 increases, and thus the potential gradient thereof increases. refer to Fig.15 When the magnetic body 22 leaves the third quadrant, the sum of the translational momentums of the housing 14 and the rotor 13 changes. More specifically, when the magnetic body 22 leaves the vicinity of the electric conductor 17, attractive force due to eddy current acts between the magnetic body 22 and the electric conductor 17, and the magnetic body 22 gains kinetic energy toward the outer peripheral side, and the electric conductor 17 gains kinetic energy toward the inner peripheral side. Although the magnetic body 22 changes its trajectory to the outer peripheral side, the magnetic body 22 receives additional outward kinetic energy because the potential is on a downward slope. However, since the magnetic body 22 passes through the third quadrant ( Fig. 14B ) the rotation speed of the magnetic body 22 decreases, so the gradient of the potential energy (downward) is smaller than when it enters the third quadrant ( Fig.14A ) when the gradient. Although the housing 14 (and therefore the electrical conductor 17) changes its trajectory to the inner peripheral side, the housing 14 loses additional inward kinetic energy because the potential is on an upward slope. However, because in passing through the third quadrant ( Fig. 14B ), the rotational speed of the housing 14 (and therefore the electrical conductor 17) increases, so the gradient of the potential energy (upward) is greater than that of entering the third quadrant ( Fig.14A ) when the gradient. Here, as mentioned above Fig.14A As described above, when entering the third quadrant, the orbital change amount of the housing 14 is greater than the orbital change amount of the magnetic body 22. Therefore, the housing 14 lacks the kinetic energy required to overcome the upward slope of the potential energy and return to its original orbit. Therefore, when the magnetic body 22 enters the vicinity of the electrical conductor 17, the housing 14 terminates its radial movement on the outer peripheral side of the orbit. On the other hand, although the magnetic body 22 also has a decrease in kinetic energy toward the outer peripheral side, due to the downward slope of the potential energy, the magnetic body 22 is able to change its orbit to the outer peripheral side. As a result of these movements, both the housing 14 and the magnetic body 22 complete their movements at the point where they have moved to the outer peripheral side relative to the point where they entered the vicinity of the electric conductor 17 , and thus they move in translational movement as a whole. When the magnetic body 22 moves from the second quadrant to the first quadrant and then to the fourth quadrant, the rotation speed difference between the housing 14 and the magnetic body 22 is restored. When the magnetic body 22 passes from the second quadrant to the fourth quadrant, the housing 14 is decelerated due to the damping of the central axis O, and the rotor 13 is accelerated by the driving torque of the thrust generator motor 15 . At this point, the magnetic body 22 and the housing 14 are not subject to any forces that would change their trajectories, and therefore their translational momentum does not change. It should be noted that the above-mentioned first, second, third and fourth quadrants refer to four quadrants (quadrants) in two dimensions. As described above, the thrust generator 11 is configured to generate thrust in one direction perpendicular to the central axis O when the rotor 13 rotates, and to translate in the one direction when viewed as a whole. At this time, in the thrust generator 11, due to the reaction force of the rotor 13 (the circumferential rotation force generated by the thrust generator 11 as described above), the retainer 16 attempts to rotate in the circumferential direction (in the direction opposite to the rotation of the rotor 13). Therefore, in this embodiment, a reverse rotation force generator 70 is provided to prevent the retainer 16 from rotating. (Structure other than thrust generator 11) Back to Figures 1 to 3 , the configuration of the propulsion device 1 of the first embodiment other than the thrust generator 11 will be described. As described above, in this embodiment, the propulsion device 1 further includes the reverse rotation force generator 70 , the coupling portion 50 , and the adjustment portion 60 in addition to the thrust generator 11 . The reverse rotational force generator 70 is configured to be coupled to the thrust generator 11 and to generate a rotational force in a direction opposite to (on the other side in the circumferential direction) the rotational force (reaction force of the rotor 13 ) generated by the thrust generator 11 to one side in the circumferential direction. As described above, when the rotor 13 rotates, due to the reaction force of the rotor 13 (the circumferential rotational force generated by the thrust generator 11 as described above), the retainer 16 in the thrust generator 11 attempts to rotate to one side in the circumferential direction (the direction opposite to the rotation direction of the rotor 13). The presence of the reverse rotational force generator 70 allows the rotational force to the other side in the circumferential direction generated by the reverse rotational force generator 70 to offset the rotational force to one side in the circumferential direction generated by the retainer 16 in the thrust generator 11, thereby limiting the rotation of the shell 14 and preventing fluctuations in the thrust direction (and therefore the translation direction) of the propulsion device 1. In this embodiment, the reverse rotation force generator 70 includes a reverse rotation force generator motor 71 , a rotating member 72 , and a holding member 73 . The reverse rotation force generator motor 71 is configured to be connected to a rotating member 72 at its output shaft and to rotate the rotating member 72 in a direction opposite to the rotation force (reaction force of the rotor 13) generated by the retainer 16 in the thrust generator 11 on one side in the circumferential direction (toward the other side in the circumferential direction). The rotating member 72 is configured to rotate in a direction (towards the other side in the circumferential direction) opposite to the rotating force (reaction force of the rotor 13) to one side in the circumferential direction generated by the retainer 16 in the thrust generator 11 by the reverse rotation force generator motor 71. In this embodiment, the rotating member 72 has a disk shape, but the rotating member 72 may have any shape. The holding member 73 is configured to hold the reverse rotation force generator motor 71 at a predetermined position. In this embodiment, the holding member 73 holds the reverse rotation force generator motor 71 so that the reverse rotation force generator motor 71 is fixed to the coupling member 51 of the coupling portion 50 on the first side Z1 in the axial direction of the coupling member 51 of the coupling portion 50. In this manner, the reverse rotational force generator 70 is configured to generate a rotational force in the direction opposite to the rotational force (reaction force of the rotor 13 ) generated by the retainer 16 in the thrust generator 11 (to the other side in the circumferential direction). Preferably, the direction of the rotational force generated by the reverse rotational force generator 70 (ie, the rotational direction of the rotational member 72 ) is opposite to the rotational direction of the rotor 13 of the thrust generator 11 . In the first embodiment, the center axis K of the reverse rotation force generator 70 is aligned with the center axis O of the thrust generator 11 , and the reverse rotation force generator 70 and the thrust generator 11 are connected in series. The reverse rotation force generator 70 is located on the first side Z1 in the axial direction compared to the thrust generator 11. In the reverse rotation force generator 70, the rotating member 72 is located on the first side Z1 in the axial direction compared to the reverse rotation force generator motor 71. The central axis K of the reverse rotation force generator 70 is defined by the central axis (rotation axis) of the reverse rotation force generator motor 71. The central axis of the rotating member 72 is aligned with the central axis (rotation axis) of the reverse rotation force generator motor 71. The reverse rotation force generator motor 71 is located on the first side Z1 in the axial direction compared to the coupling member 51 of the coupling portion 50. The coupling portion 50 is disposed between the thrust generator 11 and the reverse-rotation force generator 70 in the axial direction Z, and is configured to couple the thrust generator 11 and the reverse-rotation force generator 70 . In the first embodiment, the coupling portion 50 has a coupling member 51 and an output portion 52 . The coupling member 51 is arranged between the thrust generator 11 and the reverse rotation force generator 70 in the axial direction Z, and is configured to couple the thrust generator 11 and the reverse rotation force generator 70. The coupling member 51 has a plate-like shape parallel to the axial vertical direction. However, the coupling member 51 may have any shape. The output portion 52 is coupled to the outer circumferential surface of the connection member 51. The output portion 52 has an output surface 52a that faces the direction of the thrust generated by the thrust generator 11, and thus faces the propulsion device 1 (thus, the direction in which the propulsion device 1 translates). Therefore, the output portion 52 can be used as a mark that allows a user of the propulsion device 1, for example, to easily understand the direction of the thrust generated by the propulsion device 1 (thus, the direction in which the propulsion device 1 translates). In this embodiment, the output portion 52 has a disk shape. However, the output portion 52 may have any shape. In addition, the output portion 52 may not be provided. Furthermore, the coupling portion 50 may not be provided. The adjustment portion 60 is configured to allow adjustment of the direction of the thrust generated by the thrust generator 11 . In the first embodiment, the adjustment portion 60 is arranged between the thrust generator 11 and the coupling portion 50 in the axial direction Z, and is connected to the thrust generator 11 (specifically, the retainer 16) and the coupling portion 50 (specifically, the coupling member 51). In this embodiment, the adjustment portion 60 includes a motor 61 for the adjustment portion. The central axis (rotation axis) of the adjustment portion 60 (and therefore, the motor 61 for the adjustment portion) is aligned with the central axis O of the thrust generator 11, and the adjustment portion 60 (and therefore, the motor 61 for the adjustment portion) is connected in series with the thrust generator 11. The adjustment portion 60 (and therefore, the motor 61 for the adjustment portion) is configured to allow adjustment of the relative rotational position (relative circumferential position) between the thrust generator 11 (specifically, the retainer 16) and the coupling portion 50 (specifically, the coupling member 51). The direction of the thrust generated by the thrust generator 11 and thus the propulsion device 1 is determined by the circumferential position of the electrical conductor 17 , and the circumferential position of the electrical conductor 17 can be adjusted using the adjustment portion 60 , thereby adjusting the direction of the thrust generated by the thrust generator 11 . Furthermore, the presence of the adjustment portion 60 makes it easier to maintain the direction of the thrust generated by the thrust generator 11 and therefore the propulsion device 1 (and therefore the direction of translation of the propulsion device 1 ) in a given direction. Additionally, the adjustment portion 60 may be used to actively adjust the direction of the thrust generated by the thrust generator 11 , and thus the propulsion device 1 (and thus the direction of translation of the propulsion device 1 ), to any desired one. However, the adjustment unit 60 may not be provided. According to this embodiment, the thrust generator 11 and therefore the propulsion device 1 are configured to generate thrust in a direction perpendicular to the central axis O of the thrust generator 11 based on the drive of the thrust generator motor 15, so that the propulsion device 1 can be propelled without injecting combustion gas, etc. In addition, the presence of the reverse rotational force generator 70 allows the rotational force to the other side in the circumferential direction generated by the reverse rotational force generator 70 to offset the rotational force to one side in the circumferential direction generated by the retainer 16, thereby limiting the rotation of the propulsion device 1 when viewed as a whole and preventing fluctuations in the thrust direction (and therefore the translation direction) of the propulsion device 1. In this embodiment, the reverse rotation force generator 70 is connected to the thrust generator 11 via the connecting portion 50 and the adjusting portion 60, however, the reverse rotation force generator 70 may be connected to the thrust generator 11 via only one of the connecting portion 50 and the adjusting portion 60, or it may be directly connected to the thrust generator 11 without passing through the connecting portion 50 and the adjusting portion 60. When viewed as a whole, the propulsion device 1 is preferably configured to translate in a direction perpendicular to the central axis O of the thrust generator 11 without substantially (ie, almost or completely) rotating. like Figure 5 As shown, the electrical conductor 17 may have a tapered shape in the radial direction at both end portions 17a in the circumferential direction. Figure 5 In the example, the electric conductor 17 is configured such that at both ends 17a in the circumferential direction, the distance between the central axis O and the inner peripheral edge 17b of the electric conductor 17 gradually increases as it moves away from the center of the electric conductor 17 in the circumferential direction. As a result, as the rotor 13 rotates, the distance between the magnetic body 22 and the electrical conductor 17 gradually changes, and the attractive force and the repulsive force can be effectively generated. [Second embodiment] The following is a description of a propulsion device 1 according to a second embodiment of the present disclosure, with reference to the drawings. Figures 6 to 8 1 is a diagram for explaining a propulsion device 1 according to a second embodiment of the present disclosure. The following mainly describes points different from the first embodiment. The propulsion device 1 of the second embodiment is different from that of the first embodiment in that the reverse rotation force generator 70 has a structure similar to that of the thrust generator 11 . More specifically, the propulsion device 1 of the second embodiment includes a first thrust generator 111 and a second thrust generator 112, which are the thrust generators 11, such as Figure 6 and Figure 7 shown. The reverse rotation force generator 70 is composed of the second thrust generator 112. The first thrust generator 111 corresponds to the thrust generator 11 in the first embodiment. The reverse rotation force generator 70 is coupled to the first thrust generator 111, and is configured to generate a rotation force in a direction opposite to the rotation force (reaction force of the rotor 13) generated by the first thrust generator 111. In other words, the reverse rotation force generator 70 (second thrust generator 112) is configured to attempt to rotate in a direction opposite to the first thrust generator 111. The first thrust generator 111 and the second thrust generator 112 may have the same configuration except that the orientation of the thrust is different. The configuration of the first thrust generator 111 and the second thrust generator 112 may be the same as that of the thrust generator 11 in the first embodiment described above. like Figure 6 and Figure 7As shown, in the second embodiment, the reverse rotation force generator 70 (second thrust generator 112) is oriented in an inverted manner relative to the first thrust generator 111 in the axial direction Z. The reverse rotation force generator 70 (second thrust generator 112) is located on the first side Z1 in the axial direction compared to the first thrust generator 111. The center axis K (O) of the reverse rotation force generator 70 (second thrust generator 112) coincides with the center axis O of the first thrust generator 111, and the reverse rotation force generator 70 and the first thrust generator 111 are connected in series. In this manner, the reverse rotational force generator 70 is configured to generate a rotational force in a direction opposite to the rotational force generated by the first thrust generator 111 (the reaction force of the rotor 13 ). The propulsion device 1 of the second embodiment further includes a coupling portion 50 and a pair of adjustment portions 60 . One of the adjustment portions 60 is configured to adjust the relative rotational position (relative circumferential position) between the first thrust generator 111 (specifically, the holder 16 thereof) and the coupling portion 50 (specifically, the coupling member 51), thereby allowing adjustment of the direction of the thrust generated by the first thrust generator 111. The adjustment portion 60 is arranged between the first thrust generator 111 and the coupling portion 50 in the axial direction Z, and is coupled to the first thrust generator 111 (specifically, the holder 16 thereof) and the coupling portion 50 (specifically, the coupling member 51). Another adjustment portion 60 is configured to adjust the relative rotational position (relative circumferential position) between the second thrust generator 112 (specifically, the retainer 16 thereof) and the coupling portion 50 (specifically, the coupling member 51), thereby allowing adjustment of the direction of the thrust generated by the second thrust generator 112 (the counter-rotation force generator 70). The adjustment portion 60 is arranged between the second thrust generator 112 and the coupling portion 50 along the axial direction Z, and is coupled to the second thrust generator 112 (specifically, the retainer 16 thereof) and the coupling portion 50 (specifically, the coupling member 51). The coupling portion 50 is disposed between the pair of adjustment portions 60 in the axial direction Z, and is configured to connect the pair of adjustment portions 60 . In other respects, the configurations of the adjustment portion 60 and the coupling portion 50 may be the same as those described above with respect to the first embodiment. The presence of the adjustment portion 60 makes it easier to keep the direction of the thrust generated by each thrust generator 11 and therefore the propulsion device 1 (and therefore the direction of translation of the propulsion device 1 ) in one designated direction. Furthermore, the adjustment portion 60 may actively adjust the direction of the thrust generated by each thrust generator 11 , and thus adjust the propulsion device 1 (and thus the direction in which the propulsion device 1 translates) to be in any one direction. Preferably, the direction of the thrust generated by each thrust generator 11 is substantially the same. like Figure 8 As shown, in this example, the electrical conductors 17 of each thrust generator 11 are offset from one another in the circumferential direction. In the second embodiment, the same effects as in the first embodiment can be obtained. [Third embodiment] The following is a description of a propulsion device 1 according to a third embodiment of the present disclosure, with reference to the drawings. Figures 9 and 10 1 is a diagram for explaining a propulsion device 1 according to a third embodiment of the present disclosure. The following mainly describes points different from the first embodiment. The propulsion device 1 of the third embodiment is different from that of the first embodiment in that the reverse rotation force generator 70 is connected in parallel with the thrust generator 11 . The configuration of the thrust generator 11 may be the same as that of the thrust generator 11 in the above-described first embodiment. In the third embodiment, the coupling member 51 of the coupling portion 50 extends in one direction perpendicular to the axial direction Z. One end of the coupling member 51 in the extension direction is connected to the adjustment portion 60. The adjustment portion 60 is located on the second side Z2 in the axial direction compared to the end of the coupling member 51 in the extension direction. The adjustment portion 60 is configured to adjust the relative rotational position (relative circumferential position) between the first thrust generator 11 (specifically, its retainer 16) and the coupling portion 50 (specifically, the coupling member 51), thereby allowing the direction of the thrust generated by the first thrust generator 11 to be adjusted. The adjustment portion 60 is arranged between the thrust generator 11 and the coupling portion 50 in the axial direction Z, and is connected to the thrust generator 11 (specifically, the retainer 16) and the coupling portion 50 (specifically, the coupling member 51). The other end of the connecting member 51 in the extension direction is connected to the reverse rotation force generator 70 (specifically, the retaining member 73). The reverse rotation force generator 70 is located on the second side Z2 in the axial direction compared to the other end of the connecting member 51 in the extension direction. In the reverse rotation force generator 70, the rotating member 72 is located on the second side Z2 in the axial direction compared to the reverse rotation force generator motor 71, and the reverse rotation force generator motor 71 is held in place by the retaining member 73. The central axis K of the reverse rotation force generator 70 is parallel to the central axis O of the thrust generator 11 and is separated from the thrust generator 11 in the radial direction. The output portion 52 of the coupling portion 50 is coupled to the center of the coupling member 51 in the extension direction of the coupling member 51. The output surface 52a of the output portion 52 is oriented to face a direction perpendicular to the axial direction Z and the extension direction of the coupling member 51. In other words, in this example, the propulsion device 1 is configured to translate in a direction perpendicular to the axial direction Z and the extension direction of the coupling member 51. The reverse rotation force generator 70 is configured to generate a rotation force in a direction opposite to the rotation force (reaction force of the rotor 13 ) generated by the thrust generator 11 to one side in the circumferential direction (to the other side in the circumferential direction). Preferably, the direction of the rotational force generated by the reverse rotational force generator 70 (ie, the rotational direction of the rotational member 72 ) is opposite to the rotational direction of the rotor 13 of the thrust generator 11 . In other respects, the configurations of the adjustment portion 60 , the coupling portion 50 , and the reverse-rotation force generator 70 may be the same as those described above with respect to the first embodiment. In the third embodiment, the same effects as in the first embodiment can be obtained. Furthermore, the technical scope of the present disclosure is not limited to the above-described embodiments, and various changes may be made without departing from the spirit of the present disclosure. For example, the mounting portion 42 of the holder 16 may be provided on the second side Z2 of the housing 14 in the axial direction. In addition, in the third embodiment, the reverse rotation force generator 70 may be constituted by the second thrust generator 112 in the same manner as in the second embodiment. In other words, the first thrust generator 111 and the second thrust generator 112 may be coupled to each other in parallel. In addition, within the scope of the present disclosure, components in the above-described embodiments may be appropriately replaced with well-known components, and the above-described embodiments and modifications may be appropriately combined. The propulsion device 1 in each of the examples described above herein may also be expressed as follows. A propulsion device 1, comprising: The first mass body A; The second mass body B; A rotational motion excitation portion C, which is configured to receive energy supply to excite the rotational motion of the first mass body A; a rotational kinetic energy transmitting portion D, configured to transmit rotational kinetic energy between the first mass body and the second mass body; a translational kinetic energy transfer portion E configured to transfer translational kinetic energy between the first mass body and the second mass body; and A rotation limiting portion F is configured to limit the rotation of a holding portion H holding the rotational motion exciting portion C, the rotation being caused by the rotational motion excited by the rotational motion exciting portion C, wherein The first mass body A and the second mass body B each have a rotational degree of freedom independent of each other, and are coupled to each other so as to be vibrable in at least one direction. Preferably, the propulsion device 1 is further provided with a thrust direction adjustment portion G configured to adjust the thrust direction. The following are additional notes. The first mass body A may be constituted by, for example, the rotor 13 . The second mass body B may be constituted by, for example, the housing 14 . The first mass body A and the second mass body B can rotate independently of each other. Furthermore, the first mass body A and the second mass body B are supported by springs such as the rubber body 44 , and can vibrate in the radial direction relative to each other. Mass body A is located on the inner circumference side of mass body B. The rotation exciting portion C is constituted by, for example, a thrust generator motor 15 . The rotation excitation portion C rotates the first mass body A. The rotation reaction force at this time is received by the rotation restriction portion F which restricts the holding portion H from rotating. The rotation restricting portion F is constituted by, for example, a reverse rotation force generator 70 . The holding portion H is constituted by, for example, a holder 16 . The translational kinetic energy transfer portion E is configured to increase or decrease radial (translational) kinetic energy (to generate repulsive or attractive forces). As a specific example of the translational kinetic energy transfer section E, for example, the following structure can be considered, in which the first mass body A is provided with a magnet (such as the magnetic body 22), and the second mass body B is provided with a non-magnetic electrical conductor (such as the electrical conductor 17), and the distance between them changes as they vibrate in the translational direction. In this case, an eddy current is generated in the second mass body B, so when they are close together, a repulsive force is generated, and when they are separated, an attractive force is generated, and the translational kinetic energy of each is increased or decreased. The rotational kinetic energy transfer part D is configured to increase or decrease the rotational kinetic energy. As a specific example of the rotational kinetic energy transfer part D, for example, the following structure can be considered, in which the first mass body A is provided with a magnet (such as the magnetic body 22), and the second mass body B is provided with a non-magnetic electrical conductor (such as the electrical conductor 17), and the magnet is composed of an electrical conductor, and it maintains a substantially equal distance in the radial direction when rotating. In this case, an eddy current is generated in the second mass body B, so that there is a deceleration with a faster rotation speed, and an acceleration with a slower rotation speed, thereby increasing or decreasing the rotational kinetic energy of each. The mass body A and the mass body B are supported relative to the rotation center by a spring such as a rubber body 44 and can move in the radial direction. When these mass bodies A and B rotate and an external force is applied in the radial direction, the inertia changes. When the inertia increases, the rotation speed decreases, and when the inertia decreases, the rotation speed increases. Here, the behavior of each component (part) will be described along the time series of the rotational motion of the first mass body A. The first mass body A and the second mass body B rotate in the same direction, and it is assumed that the rotation speed of the first mass body A is much greater than the rotation speed of the second mass body B. When the magnet attached to the first mass body A approaches the electrical conductor attached to the second mass body B in the radial direction, a repulsive force is generated between the magnet and the electrical conductor. At this time, as the rotation track of the first mass body A changes toward the inner circumference, the first mass body A reduces its inertia and increases its rotation speed. As the rotation track of the second mass body B changes toward the outer circumference, the second mass body B increases its inertia and reduces its rotation speed. Here, consider a structure consisting of a central axis, a mass body, and a thread connecting them. The mass body rotates around the central axis, and centrifugal force acts on it. If a force is applied to cause the thread to contract in the radial direction opposite to the centrifugal force (i.e., the tension of the thread), the rotation speed will increase as the inertia decreases. At this time, the structure receives a workload (the tension of the wire × the change in diameter), so the rotational kinetic energy increases. On the other hand, when the thread is loosened via the damper, the rotation radius increases due to the centrifugal force acting on the mass point, and the rotational speed decreases as the inertia increases. At this time, the structure gives a workload (the tension of the wire × the change in diameter), so the rotational kinetic energy decreases. These energies can be added or removed by increasing or decreasing the radius of rotation, so they can be considered as potential energy. This potential energy is determined by the mass of the mass body, the radius of rotation, and the speed of rotation. In addition, external energy is required when the radius decreases, and energy is released when the radius increases, so it has a positive gradient (upward gradient) toward the center of rotation. Therefore, when the rotation orbit of the first mass body A changes toward the inner peripheral side, the potential energy increases (upward slope), and when the rotation orbit of the second mass body B changes toward the outer peripheral side, the potential energy decreases (downward slope). Therefore, the orbit change amount of the second mass body B is greater than the orbit change amount of the first mass body A (i). Next, when the magnet attached to the first mass body A passes near the electrical conductor of the second mass body B while maintaining a substantially equal distance in the radial direction, the rotation speed of the first mass body A decreases and the rotation speed of the second mass body B increases due to the force of the eddy current generated in the second mass body B. At this time, the potential energy of the first mass body A decreases, and the potential energy of the second mass body B increases. When the magnet attached to the first mass body A moves away from the electrical conductor attached to the second mass body B in the radial direction, an attractive force is generated between the magnet and the electrical conductor. At this time, the first mass body A increases its inertia and decreases its rotation speed as its rotation track changes toward the outer circumference. The second mass body B decreases its inertia and increases its rotation speed as its rotation track changes toward the inner circumference. When the second mass body B changes its orbit toward the inner circumference, it loses the kinetic energy in the radial direction obtained from the attraction, while increasing its potential energy (upward slope). At this time, in the above (i), as the second mass body B passes through the orbit that greatly protrudes toward the outer circumference, and due to the increase in the rotation speed, the gradient of the potential becomes steeper (the angle of the upward slope becomes steeper), it loses the kinetic energy in the radial direction before returning to its original rotation orbit. On the other hand, when the first mass body A changes its orbit toward the outer peripheral side, it tries to return to its original orbit while reducing its potential energy (downward slope). The rotation speed of the first mass body A decreases, and the potential gradient becomes smaller, but due to the downward gradient of the potential energy, the first mass body A can move beyond the original orbit and move to the outer peripheral side (ii). Therefore, both the first mass A and the second mass B will travel on a trajectory further outwards in the radial direction than before passing the electrical conductor, and the whole will begin to translate in the radial direction. The energy of the translational motion at this time is obtained from the potential energy lost by the first mass body A in (ii). Therefore, the rotation speed of the first mass body A has been further reduced. However, after passing near the electrical conductor, the first mass body A is able to receive the rotational kinetic energy from the rotational motion excitation part C and compensate for it, so the first mass body A can continuously increase the energy of the translational motion. The center of gravity of the first mass body A may be offset from the axis of rotation. When the first mass body A rotates, this misalignment causes the first mass body A and the second mass body B to vibrate against each other and can effectively generate the attraction and repulsion of the magnets in the first mass body A and the electrical conductors in the second mass body B. In the translational kinetic energy transfer section E, if one side is a non-magnetic electrical conductor, the electrical conductor may have a tapered shape in the radial direction at both ends in the circumferential direction. Therefore, as the first mass body A (rotor) rotates, the distance between the magnet and the electrical conductor gradually changes, and attractive and repulsive forces can be effectively generated. A thrust direction adjusting portion G that rotates the mass body of the second mass body B and adjusts the thrust direction may be provided. The electrical conductor attached to the second mass body B determines the direction of the thrust, but due to a series of movements, the mass body of the second mass body B rotates, and thus the direction of the thrust also changes. The thrust direction adjusting portion G makes it possible to keep it constant or adjust the thrust in any direction. Industrial Applicability The present disclosure can be applied to all types of propulsion devices for moving objects (such as alternatives to tires and rocket engines, etc.), and in particular, it can be applied to all types of propulsion devices used in environments where it is difficult to propel objects by friction (such as on ice or in space). Description of Reference Numerals 1 Propulsion device 11Thrust generator 11 First thrust generator (thrust generator) 112 Second thrust generator (thrust generator, reverse rotation force generator) 13 rotors 21 body part 22 Magnetic body 23 Non-magnetic material 24 Elastic connector 31 third connecting portion (connecting portion) 32 weeks facial 14 Shell 35 first storage unit 36 first connecting portion 36a Connecting hole 36b Annular groove 37Substrate Department 37a through hole 38 first connection part 39 Second connection part 15 thrust generator motor 15a Output shaft 16 Retainer 41 Second storage unit 42 Installation 42b protruding tube 43 second connection portion 17 Electrical conductors 44 rubber body 50 connection part 51 Connecting components 52 Output unit 52a Output surface 60 Adjustment Department 61Motor for adjustment part 70 Reverse Rotation Force Generator 71 Reverse Rotation Force Generator Motor 72 Rotating components 73Retaining member O Center axis K Center axis X width direction Y Depth Y1 First side in depth Y2 Second side in depth Z-axis direction Z1 First side in axial direction Z2 Second side in axial direction

Claims

1. A propulsion device, comprising a thrust generator and a reverse rotation force generator, wherein The thrust generator comprises: a rotor supported so as to be rotatable in a circumferential direction about a central axis; a housing for accommodating the rotor; a thrust generator motor that rotates the rotor in the circumferential direction; as well as a holder for holding the thrust generator motor, wherein The housing and the holder are coupled to each other so as to be relatively displaceable, The rotor comprises: a body portion located at the center in the radial direction and coupled to the thrust generator motor; a magnetic body and a non-magnetic body having a weight different from that of the magnetic body, each of the magnetic body and the non-magnetic body being provided at a position sandwiching the main body portion in the radial direction; and A pair of elastic couplings, the pair of elastic couplings respectively coupling the main body to the magnetic body and the non-magnetic body and being formed to be elastically deformable, wherein An electrical conductor is provided in a portion along the circumferential direction of the housing, The thrust generator is configured to generate thrust in a direction perpendicular to the central axis and to generate a rotational force in the circumferential direction, and The reverse rotational force generator is coupled to the thrust generator and is configured to generate a rotational force in a direction opposite to the rotational force generated by the thrust generator.

2. The propulsion device according to claim 1, wherein: The non-magnetic body is heavier than the magnetic body.

3. The propulsion device according to claim 1, wherein: The housing and the holder are coupled to each other so as to be elastically displaceable.

4. The propulsion device according to claim 1, wherein The elastic connecting member comprises: a pair of coupling portions extending in a direction away from each other in the circumferential direction as they move outwardly from the body portion in the radial direction; a peripheral surface portion connecting the outer ends of the pair of coupling portions in the radial direction and extending in the circumferential direction, wherein The magnetic body and the non-magnetic body are provided on the peripheral surface portion.

5. The propulsion device according to claim 1, wherein The reverse rotation force generator comprises: a counter-rotating force generator motor; as well as A rotating member is rotated by the counter-rotational force generator motor in a direction opposite to the rotational force generated by the thrust generator.

6. The propulsion device of claim 1, comprising a first thrust generator and a second thrust generator, each of the first thrust generator and the second thrust generator being the thrust generator, wherein The reverse rotation force generator is constituted by the second thrust generator, is coupled to the first thrust generator, and is configured to generate a rotation force in a direction opposite to the rotation force generated by the first thrust generator. 7 . The propulsion device according to claim 1 , further comprising an adjustment portion configured to adjust a direction of the thrust generated by the thrust generator.

8. The propulsion device according to any one of claims 1 to 7, wherein: When viewed as a whole, the propulsion device is configured to translate in a direction perpendicular to the central axis without substantially rotating.

9. A propulsion device comprising: The first mass body; The second mass body; a rotational motion excitation portion configured to receive energy supply to excite the rotational motion of the first mass body; a rotational kinetic energy transmitting portion configured to transmit rotational kinetic energy between the first mass body and the second mass body; a translational kinetic energy transfer portion configured to transfer translational kinetic energy between the first mass body and the second mass body; as well as a rotation limiting portion configured to limit the rotation of a holding portion holding the rotational motion exciting portion, the rotation being caused by the rotational motion excited by the rotational motion exciting portion, wherein The first mass body and the second mass body each have a rotational degree of freedom independent of each other, and are coupled to each other so as to be vibrable in at least one direction.

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