WO1990005242A1

WO1990005242A1 - Propelling apparatus

Info

Publication number: WO1990005242A1
Application number: PCT/JP1989/001131
Authority: WO
Inventors: Kazuo Shiboi
Original assignee: Kazuo Shiboi
Priority date: 1988-11-10
Filing date: 1989-11-01
Publication date: 1990-05-17
Also published as: AU4505989A

Abstract

This invention relates to a propelling apparatus which utilizes the force generated by precession of a rotary member (1). In other words, the rotary member (1) is rotated at a speed lower than its own rotary speed with at least two input shafts (B), (E), which are not coincident or not parallel with the main axis (A) of the rotary member (1), as the center so as to change the angle of the main axis (A) of the rotary member (1) inside a space and to generate precession. When this precession is repeated, it is possible to continuously apply an equal acceleration without applying any action on the external space at all by utilizing the angle change (rotation) of the propelling apparatus itself or a machine having mounted thereto the propelling apparatus inside the space. In this manner, efficient propelling can be made. More efficient propelling can be accomplished by changing the number of rotary members and the rotating direction of the input shafts.

Description

Specification

Propulsion device

Technical field

The present invention relates to a propulsion device used for propulsion and attitude control of a mobile machine, and in particular, to a propulsion device that utilizes a force generated by precession of a rotating body that rotates at high speed to perform propulsion. Background art

Examples of the propulsion device for a machine include a propeller and a propeller screw (hereinafter simply referred to as a “propeller”) on a propeller airplane or a ship. In these airframes and hulls, the rotational motion obtained by a prime mover such as a heat engine or motor is finally or directly transmitted to the propeller via a transmission, clutch, or the like. The propeller pushes the air and water forward, causing it to propel the fuselage and hull forward. When stopping a moving aircraft or hull, stop transmitting the rotation of the prime mover to the propeller, wait for the air and water resistance to stop, rotate the propeller, or reverse the pitch. This pushes the air and water behind, causing the aircraft and hull to stop.

In addition, jet aircraft and rockets are equipped with propulsion devices such as jet engines and rocket engines.The engines react to the jets of fine particles and gas jetting at a high speed in the rearward direction. Propell ahead.

Furthermore, in vehicles such as automobiles and rail cars, the rotational motion obtained by the prime mover is finally transmitted to the wheels via transmissions, clutches, and the like. The wheels act on the ground or trajectory at the point of contact with the ground, and the ground or trajectory pushes the vehicle forward in the reaction. These wheels are also propulsion devices in a broad sense It can be said.

The first problem of the conventional propulsion device described above is that its efficiency is not necessarily good or bad, and the second problem is that the speed obtained is small. Yes, and the third problem is that some of the conventional propulsion systems cannot be propelled depending on the surrounding environment.

In the case of a propeller, for example, gases and liquids move in all directions, so propellers do not push the hull or airframe as a reaction by pushing all the gas or liquid backward. Considering the propulsion itself, the gas or liquid that is pushed backward should just flow backward in a straight line, but a propeller always generates a vortex, which greatly reduces the efficiency. In addition, when propelling a gas such as air with a propeller, the efficiency also decreases because the temperature of the compressed gas increases, so the efficiency is low and the speed obtained is low. Also, propellers can only be used in gas or liquid.

For jet and rocket engines, the speed gained is generally greater than for propellers, but there are still limitations. Also, jet engines can only be propelled in oxygenated atmospheres.

For wheels, the friction at the ground contact point has a large effect on the efficiency of propulsion, especially when the friction is small, the wheels spin and the efficiency drops. Also, when a high speed is required, the rolling friction of the wheels becomes a resistance to propulsion, and the efficiency is reduced. In addition, the wheels can hardly propel the vehicle in the liquid.

An object of the present invention is to provide a propulsion device which has a high propulsion efficiency, a high speed, and can be propelled regardless of the environment in which it is used. Disclosure of the invention

In order to solve the above-described problems, a propulsion device according to the present invention is a propulsion device that utilizes precession motion, and is supported so as to freely roll around a main shaft (a high-speed rotation shaft). A rotating body having high rigidity, a high-speed driving means for rotating the rotating body at a high speed about the main shaft, at least two input shafts which are not coincident with or parallel to the main shaft of the rotating body, Low-speed driving means for driving the surface rolling body at a lower speed than the high-speed driving means around the input shaft.

Further, a propulsion device according to the present invention is a propulsion device for propulsion using precession, wherein at least two high-rigidity rotators supported rotatably around a main shaft, A high-speed driving means for rotating each of the rotating bodies at a high speed around the main shaft; an input shaft provided at least one for each of the rotating bodies, which does not coincide with or is not parallel to the main shaft; Low-speed driving means for driving each of the rotating bodies at a lower speed than rotation of the high-speed driving means around an axis; and rotating force from the low-speed driving means alternately rotating the rotation direction of each of the input shafts. And control means for controlling the change at the same time.

At this time, when a plurality of sets of the at least two rotators are provided, a straight line orthogonal to both the main axis of each rotator and the input axis of each rotator is the normal / reverse of each of the surface rotators. In low-speed rotation in both directions, they may be arranged continuously so that there is a matching phase.

Further, a propulsion device according to the present invention is a propulsion device for propelling using a precession motion, comprising: a highly rigid rotating body supported rotatably around a main shaft; High-speed driving means for rotating and rotating the rotating body at a high speed; a first input shaft that does not coincide with or is not parallel to the main axis of the image body; and a second input shaft that is parallel to the first input shaft. When, A low-speed driving unit that performs a surface rolling operation at a lower speed than the rotation of the high-speed driving unit around each of the input shafts, and a surface rolling force from the low-speed driving unit causes the rotating body to rotate around the first input shaft. Control means for turning the surface in the direction of No. 1 and westward in the second direction around the second input shaft, and returning the first and second inputs to the original position without turning the surface. It is composed of

At this time, in the case where a plurality of the flattened bodies are provided, a straight line orthogonal to both the main axis of each of the flattened bodies and the first input shaft; and the main shaft and the second input shaft. A straight line perpendicular to both of the two may be arranged so that there is a coincident phase when the respective surface rolling bodies rotate at low speed in both forward and reverse directions.

Furthermore, propulsion device according to the present invention, there is provided a propulsion system for promotion by using the precession, are Menten rotatably supported around the main shaft, stiffness is high, the positive n ₄ square (n ₄ is (Even number of 4 or more) each of the vertices of n ₄ ffi disposed at the positions of the vertices; high-speed driving means for driving each of the surface rotators at a high speed around the respective spindles; 2 the straight line connecting the body with each other does not pass through the center of the positive n ₄ square as one set, the not through a positive n ₄ square central connecting the set of rotary bodies, does not coincide with the straight line or not parallel and not parallel the main axis consistent with such Imatawa of the surface rolling body, and an input shaft perpendicular to the positive n ₄ square plane, drive the high speed the surface rolling body about said input shaft (4) The low-speed driving means rotating at a lower speed than the image rotation of the means, and Simultaneously roll around the axis, and then simultaneously roll another set of rotating bodies with the same conditions as above, and then operate the rotation of still another set of image rolling bodies with the same conditions as above. After returning, the control means controls the low-speed driving means so as to simultaneously rotate all the rotating bodies in the opposite direction. Furthermore, propulsion device according to the present invention, there is provided a propulsion system for promotion by using the precession, Menten is rotatably supported around the main蚰, high rigidity, positive n ₃ triangle (n ₃ N is an integer of 3 or more), n ₃ rotating bodies arranged at the positions of the vertices, high-speed driving means for rotating each of the rotating bodies at high speed around each of the spindles, and linearity said connecting as a positive n ₃ triangle two pair that does not pass through the center of said not through a positive n ₃ triangular central connecting the set of rotary bodies, not to do or parallel match the straight line, and, wherein a match with the main axis of the rotating body Imatawa not parallel, and the parallel input shaft to the positive n ₃ triangular faces, than the rotation of the high-speed driving means said rotary member about said input shaft Low-speed driving means for rolling the surface at a low speed; Rotate simultaneously around the center, and then simultaneously rotate one other of the one set or the other set identical to the above condition, and And control means for controlling the low-speed driving means so as to repeat the rotation of one set of rotating bodies.

The rotating body that constitutes the present invention may constitute a part or all of a motor that drives the rotating body, and may rotate at a high speed.

The main axis may be orthogonal to the input axis.

When the rotating body is divided by using a surface that surrounds the input shaft as a boundary surface, the two may have the same angular momentum.

The outer surface of the surface rolling body may be supported by a support.

The input shaft may have a support structure that is set to a different axis from the rotation axis of the rotational motion used for transmitting the low-speed rotation. At this time, the support structure is configured such that at least two projections provided on a bearing or a support for receiving a main shaft of the rotating body are guided by a circular guide groove and move. Is also good.

In addition, in the support structure, the guide groove may share two strings in the middle. When two other similarly curved grooves are combined with the other semi-circular groove resulting from the bending of the other circular groove, two non-circular grooves are formed. Combined at positions forming a continuous circular groove, one of the bearings or the support having the two convex portions has one convex portion in one groove and the other convex portion in the other. By moving in the groove, the rotation axis may be changed each time the bearing or the support rotates half a turn. Further, the support structure may be configured such that a circular groove provided in a bearing or a support for receiving a main shaft of the surface rolling member moves along at least three guide protrusions.

Since the propulsion device according to the present invention is configured as described above, it is possible to impart a constant acceleration motion to the propulsion device itself, and eventually to any machine on which the propulsion device is attached, without exerting any effect on the outside world.

Having no effect on the outside world means that no matter what the environment of the outside world, the efficiency of propulsion will not be reduced. Unlike wheels, the efficiency does not decrease due to friction of the ground contact surface, nor does it reduce the efficiency due to eddy currents like a propeller. And it can be propelled in a vacuum, in a gas, in a liquid, or in a solid (although that solid will be propelled). It is also possible to accelerate and propell regardless of the speed at which the propulsion device or any machine equipped with the propulsion device is moving. Therefore, the same acceleration can be applied without using any action on the outside world by using the angle change (rotation) in the space of the propulsion device itself or the machine to which the propulsion device is attached. Efficient propulsion can be performed, and the speed limit obtained can be greatly increased. BRIEF DESCRIPTION OF THE FIGURES

1 to 4 are views showing a first embodiment of a propulsion device according to the present invention. FIG. 1 is a perspective view, FIGS. 2 and 3 are plan views, and FIG. It is a side view.

FIG. 5 is a perspective view showing a second embodiment of the propulsion device of the present invention.

FIG. 6 is a perspective view showing a third embodiment of the propulsion device of the present invention.

7 and 8 are views showing a rotating body used in a fourth embodiment of the propulsion device of the present invention. FIG. 7 is a perspective view, and FIG. 8 is a plan view.

9 and 10 are views showing a surface rolling body used in a fifth embodiment of the propulsion device of the present invention. FIG. 9 is a perspective view, and FIG. 10 is a side view. It is.

FIG. 11 is a perspective view showing a sixth embodiment of the propulsion device of the present invention.

FIG. 12 is a plan view showing a rotating body used in a seventh embodiment of the propulsion device of the present invention.

FIG. 13 to FIG. 20 are views showing a modified example of the rotating body or the rotating body and its support that can be used in each embodiment of the propulsion device of the present invention. Best form for carrying out Huhu

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

In Fig. 1, the rotating body 1 is formed of a highly rigid material, and the rotation axis (spindle) at the position of the straight line A is centered in the direction of the arrow of the straight line A. Fast! II Suppose you are turning. The rotating body 1 is rolled around a straight line B (input shaft) that is not coincident with or parallel to the rotation axis in the direction of the straight line B at a speed lower than the rotation speed of the rotating body 1. Then, the rotation axis of the plane rolling element 1 moves to the position of the straight line C. At this time, the rotation axis of the plane rolling element 1 has changed the angle in the space, and the precession movement occurs. Due to this precession, the propulsion device flattens the entire device in the direction of the arrow of the straight line D with the substantially straight line D as a rotation axis (output shaft).

Drawing this from Fig. 2 when the propulsion device shown in Fig. 1 is viewed from above, the surface rotation axis of the surface rolling element 1 is centered on the straight line D, which is the rotation axis of the device, up to the position of the straight line H. It will be done. Then, the surface rotating body 1 is rotated around the straight line E that is not coincident with or parallel to the rotation axis at a lower speed than the surface rotating speed of the rotating body 1 in the direction of the arrow of the straight line E. Then, the rotation axis of the rotating body 1 moves from the position of the straight line C to the position of the straight line F. Also at this time, the rotation axis of the plane rolling body 1 has changed the angle in the space, and precession occurs. Due to this precession, the propulsion device rotates the entire device in the direction of the arrow of the straight line G about the rotation axis of the substantially straight line G. If this is drawn in FIG. 2, the rotation axis of the surface rolling body 1 has rotated from the position of the straight line H to the position of the straight line I.

As described above, for the rotating body 1 rotating at high speed, a plane centered on the straight line B and the straight line E, which is not coincident with or parallel to the rotation axis, is lower than the image speed of the flat body 1 By turning again, the entire device, or any machine on which the device is mounted, can move in a certain direction, as shown in Fig. 2.

However, if such low-speed surface rolling is performed over a long period of time, the rotating body 1 that performs high-speed surface rolling must continue to move upward in FIG. 1, and the moving distance gradually increases. It is just getting bigger. In order to keep the apparatus moving in a fixed direction for a long time without significantly changing the position of the rotating body 1 with respect to the apparatus, the following operation may be performed (the first operation of the operation). The stage is as shown in Fig. 1, where the rotation axis of the rotating body 1 is at the position of the straight line A, and the rotating direction of the rotating body 1 rotating at high speed is the direction of the arrow of the straight line A).

First, in the first step, the rotating body 1 is rotated at a low speed around the straight line B in the direction of the arrow of the straight line B. As a result, the rotation axis of the rotating body 1 moves from the position of the straight line A to the position of the straight line C. As a second step, the rotating body 1 is rotated around the straight line E at a low speed in the direction of the arrow of the straight line E. As a result, the rotation axis of the rotating body 1 moves from the position of the straight line C to the position of the straight line F.

As a third step, the rotating direction of the rotating body 1 is reversed from the direction of the arrow of the straight line A, and the rotating body 1 is rotated at a high speed. In the fourth step, the rotating body 1 is rotated around the straight line E at a low speed in the direction opposite to the arrow of the straight line E. As a result, the rotation axis of the rotating body 1 moves from the position of the straight line F to the position of the straight line C. In the fifth step, the vehicle turns around the straight line B at a low speed in the direction opposite to the arrow of the straight line B. As a result, the rotation axis of the rotating body 1 moves from the position of the straight line C to the position of the straight line A. In the sixth stroke, the rotating direction of the rotating body 1 is reversed again, and is returned to the same direction as the arrow of the straight line A before the start of the first stroke. Repeat the above six steps.

The movement of the device in this case shall be depicted by Fig. 3 when the propulsion device shown in Fig. 1 is viewed from above. It is assumed that the rotation axis of the rotating body 1 is at the position of the straight line L before the start of the first stroke. By the first stroke, it moves from the position of the straight line to the position of the straight line M. The second stroke moves from the position of the straight line M to the position of the straight line N. Does not move depending on the third step.

By the way, it is possible to reverse both the direction of rotation of a high-speed surface rolling body and the direction of low-speed rotation that is not aligned or parallel to its axis of rotation. For example, since the direction of rotation due to precession does not change, the rotation axis of the surface rolling element 1 moves from the position of the straight line N to the position of the straight line 0 by the fourth stroke. The fifth stroke moves from the position of the straight line 0 to the position of the straight line P. It does not move by the sixth process.

The device moved as a result of the rotation performed on the two-axis, different times at a lower speed than the surface rotation speed of the image rolling body for the high-speed flat surface rolling body at different times. This movement is the result of a face roll of the device or a change in the angle of the device in space, and it has some effect on the outside world and is different from the movement as a reaction.

Note that a structure that gives a face rotation at a speed lower than the face rotation speed of the surface rolling body around an axis that does not coincide with or is not parallel to the rotation axis of the rotating body 1 that rotates at high speed is shown in Fig. 4. There is a driving structure based on the magnetic force of an electromagnet and gravity. In this method, the shaft 2 of the image transfer body 1 that rotates at high speed is supported by a bearing 3 movable in the direction of the arrow, and the bearing 3 is further separated from a coil 5 and an iron core 4 movable in the coil 5. The electromagnet is supported by a bearing 6 provided at the end of the iron core. Now, if an electric current is passed through one coil, the iron core 4 moves upward, and if the electric current is cut off, the iron core 4 moves downward by gravity.

However, driving by an electromagnet is merely a means of giving a low-speed surface rolling to the surface rolling element, and in addition to this, using a cam and a push rod that perform the surface rolling by the prime mover, Alternatively, it is possible to give a low-speed rotation using a crank, and it is also possible to adopt a structure in which they are combined with an elastic body.

It should be noted that, at different times, to roll over at a speed lower than the rotation speed of the rotating body does not mean that those low-speed rotations partially overlap in time. Even if it partially overlaps, it is It just moves the center.

In addition, the rotating body that rotates at high speed is moved back and forth or rotated without changing the angle in the space of the rotation axis, and at one point along the way, the rotating body is slower and forward with respect to the rotating body. In the case of a propulsion device with a structure that rotates in the opposite direction at one other point, the position of the low-speed rotating shaft with respect to the rotating body does not change, but the position on the device changes. Therefore, it can be said that there are two or more rotation axes for low-speed rotation. FIG. 5 shows another embodiment of a high speed rotating surface rolling body. The high speed rotating body has two separate rotating axes (main shafts), that is, two rotating bodies. , Each of which has one low-speed bearing axis (input 轴).

The chassis の of the propulsion device has a battery 8 serving as a power supply, a motor 9 and a motor 10, and a switch 11 for controlling the rotating timing of the two motors and the direction of the face rotation. When the motor 9 rotates, the rotation is transmitted to the pulley 12, the belt 13, and the pulley 14, and the rotation is reduced to rotate the support 15 on which the pulley 14 is mounted at a low speed. A motor 16 and a battery 17 as a power supply are attached to the support 15. When the motor 16 rolls, its rotation is transmitted to the pulley 18, the belt 19, and the pulley 20 at an increased speed. The support 15 supports the image transfer body 21, and thus, rotating the support 15 means rotating the rotator 21. The pulley 20 is attached to the rotator 21 to image the rotator 21 at high speed.

Further, when the motor 10 rotates, the rotation is transmitted to the pulley 22, the belt 23, and the pulley 24, and the speed is reduced, so that the support 25 on which the pulley 24 is mounted rotates at low speed. The support 2 5 has a motor 26 and Battery 27, which is the power supply, is installed. When the motor 26 rotates, the rotation is transmitted to the burry 28, the belt 29, and the pulley 30 at an increased speed. The support 25 supports the flat body 31, and thus, to image the support 25, that is, to rotate the image body 31. The pulley 30 is attached to the flat body 31 to roll the flat body 31 at high speed.

Here, it is assumed that the surface rolling body 21 and the rotating body 31 are driven by the motor 16 and the motor 26, respectively, but this is not necessarily required to be a motor. It does not matter.

In this case, a pulley and a belt are used to transmit the motor's surface rotation to the surface rolling element and the support. However, this is the transmission of ordinary power such as gears, gears and chains, and gears and shafts. Other structures used for the above may be used.

Furthermore, the switch controls the timing and direction of the slow rolling of the support, but this can also be due to other, for example, mechanical, structures. .

Now, the chassis 7 of this propulsion device (or even when this propulsion device is attached to some machine) is in a horizontal state, and both supports 15 and 25 are shown in FIG. In this state, it is assumed that the rotating body 21 is rotating at high speed in the direction of the arrow of the straight line Q and the rotating body 31 is rotating at a high speed in the direction of the arrow of the straight line S. Switch switching is performed as one cycle. First, the motor 9 is rotated, and the support 15 is rotated 180 ° in the direction of the arrow of the straight line R. After the end of the rotation, the motor 10 is rotated, and the support 25 is turned 180 ° in the direction of the arrow of the straight line T. After the end of the rotation, the motor 9 and the motor 10 are simultaneously rotated in the reverse direction, and the support 15 is rotated. 1 80 in the direction opposite to the arrow of the straight line R. The support 25 is rotated 180 ° in the direction opposite to the arrow of the straight line T, respectively.

Next, the operation of the entire apparatus in this case will be described. First, when the support 15 is rotated by 180 ° in the direction of the arrow of the straight line R, the rotation axis of the high-speed rotating facet 21 changes its angle in the space, so that precession occurs. . The precession force rotates the entire device about the straight line Q in the direction of the arrow of the straight line Q. 1 8 0. When the rotation of the rotating body 21 is completed, the direction of rotation of the rotating body 21 rotating at high speed changes from the direction of the arrow of the straight line Q to the direction opposite to the arrow of the straight line Q. .

Next, when the support 25 is rotated 180 ° in the direction of the arrow of the straight line T, the rotation axis of the rotator 31 rotating at a high speed changes its angle in the space, so that precession occurs. The force of the precession rotates the entire device around the straight line S in the direction of the arrow of the straight line S. When the 180 ° rotation is completed, the rotating direction of the rotating body 31 rotating at high speed with respect to the device changes from the direction of the arrow of the original straight line S to the direction opposite to the arrow of the straight line S. Change direction.

Next, when the support 15 is simultaneously rotated by 180 ° in the direction opposite to the arrow of the straight line R and the support 25 is simultaneously rotated by 180 ° in the direction opposite to the arrow of the straight T, both rotating bodies 2 1 The force of precession generated in, 31 becomes an internal force and the device does not rotate. As a result of this simultaneous rotation, the rotating directions at which the rotating bodies 21 and 31 rotate at high speed have returned to their original directions.

At the end of one cycle, the propulsion device is shifted in time in both the forward and reverse directions around the different position, and as a result, has moved in parallel. The same translation can be obtained in any of the second, third, and subsequent cycles. Note that here The one cycle of switch switching described in the above does not necessarily have to be this way. Nor does it require slow rotation of the two supports at completely separate times. Even if the slow rotations of the two supports partially overlap in time, as long as the precession forces are not the same at all times, other than internal forces or forces that cancel each other out This force turns the entire device. However, it is desirable that the rotation of the rotating body that rotates at high speed at the high speed without returning the device to the initial direction is completely simultaneous.

Note that the low-speed rotation angle is set to 180 ° here, but this does not necessarily have to be 180 °. FIG. 6 shows another embodiment in which the input shaft is given a low speed rolling.

The propulsion unit chassis 32 in this example has a battery 33 and a motor 34 that are power supplies. The rotation of the motor 34 is performed by pulleys 35 and belts.

It is transmitted to 36, pulley 37, and is decelerated. Pulley 37 rotates force shaft 38 at low speed. The cam shaft 38 has a cam 39 and a cam 40 mounted thereon, and push up the push rods 41 and 42. Further, a spring 43 and a spring 4 for pushing down the pushed-up bus rods 41, 42 are attached to the upper portions of the push rods 41, 42.

The shape of the cam 39 and the cam 40 may be any shape that meets one of the following two conditions. The first is two bus rods 4 1,

It has a process of pushing up 2 at the same time and a process of pushing down with spring force at different times. The second is a process having a process of pushing up at different times and a process of pushing down at the same time. However, these forces 39, 40 and the push rods 41, 42 cause the swing described later. The structure itself for giving the swing to the body 50 is not indispensable to the present invention, but gives the swing having the above-described stroke to the rotating body 49 supported by the swing body 50 and rotating at high speed. It is essential. Therefore, the structure composed of the cams 39, 40 and the push rods 41, 42 is operated in combination with another structure having the same function, for example, a sensor for detecting the rotation of the oscillator. It can be replaced with electromagnets or prime movers.

Further, the device has an oscillating body 50, and a motor 45, which is rotated by a battery 33, is attached to the oscillating body 50. The rotation of the motor 45 is controlled by a pulley 46, a belt 47, It is transmitted to pulley 4-8. The bully 48 rotates the rotating body 49 supported by the rocking body 50 at a higher speed than the rotation of the motor 45.

The oscillating body 50 includes a shaft 51 and a shaft that are two low-speed rotations 轴 (input しない) that do not coincide with or are not parallel to the rotation 轴 (spindle) of the rotating body 49. G 52 is attached. The shafts 51 and 52 are supported by bearings 53 and 54 attached to the push rod 41 and the push rod 42, respectively. The bearings 53 and 54 are used for the linear movement of the bus rods 41 and 42 so that the shafts 51 and 52 do not hinder the linear movement of the push rods 41 and 42. The structure must be movable in a direction perpendicular to both the direction and the directions of the shafts 51 and 52.

Now, the rotation direction of the rotating body 49 of this propulsion device is in the direction of the arrow of the straight line U, and the shapes of the cams 39 and 40 correspond to the push rods 41 and 42. The operation of the entire system will be described assuming that it is pushed down by the action of the springs 43 and 44 at the same time and is pushed up at the same time.

Now, by the rotation of the cam 3 9 and the action of the spring 4 3, the push Assume that the rod 41 is pushed down, and the position of the push rod 42 remains unchanged. At this time, the oscillating body 50 has rotated around the shaft 52 at a speed lower than the rotation speed of the surface rolling body 49 that performs a high-speed surface rolling. This low-speed rotational movement changes the angle of the rotation axis of the image body 49 in the space, and causes precession. In this precession, the entire device is almost completely moved in the direction of the arrow of the straight line W with the straight line W as the center.

Next, it is assumed that the push rod 42 is pushed down by the surface rotation of the cam 40 and the action of the spring 44, and the bush rod 41 remains at the same position. Also at this time, the oscillating body 50 has rotated around the shaft 51 at a lower speed than the face rolling speed of the face rolling body 49 rotating at a high speed. This low-speed rotation also causes precession by changing the angle of the rotation axis of the plane rolling element 49 in the space. This precession rotates the whole device about the straight line V in the direction of the arrow of the straight line V. In other words, the device turns around the different position in the forward and reverse directions with a time lag, and as a result, the device moves in parallel.

Then, the cam 39 and the cam 40 push up the push rod 41 and the push rod 42 at the same time. The image body 49 supported by the rocking body 50 returns to the original position without changing the angle in the space, and in this case, precession does not occur. Therefore, the device does not move. Given the above, if the first cycle of the cam has ended, then in any second, third, or subsequent cycle, the same rotation as a result of rotation in the space of the entire device will result in a parallel You can move.

Here, the process of returning to the original position without changing the angle in the space of the rotating shaft of the high speed rotating surface rolling element is a linear motion. However, this does not necessarily have to be a linear motion. Even if it is a curvilinear motion, it is sufficiently possible to return to the original position without changing the angle in the space of the rotation axis by other structures.

In this way, if the rotation axis of the rotating body that rotates at high speed is configured to return to the original position without changing the angle in space, the rotating body rotates at a constant speed without changing the direction of high-speed rotation. Since it is possible to move in the direction of, it is possible to greatly increase the efficiency when trying to obtain a very large moving distance within the same time. FIG. 7 shows another embodiment of the number of rotating bodies and their respective input shafts. In other words, this shows a case where the rotating body has n (n: natural number) main axes that are separate, that is, n, each of which has two input axes. Here, a rotating body, a main shaft, and an input shaft, which are main parts of the propulsion device of the present invention, are extracted and shown.

The propulsion device shown in Fig. 6 always shakes during its operation. This is due to the fact that the shaft (main shaft), which is the center of rotation due to the precession motion of the rolling element that changed the angle in the space of the entire device due to precession, fluctuates due to low-speed rolling. And this swing reduces the efficiency of the device.

Now, if any machine to which the propulsion device is attached does not shake due to its structure or form, the efficiency will not decrease, but otherwise the propulsion device will have the structure shown in Fig. 7. , Can prevent shaking.

It consists of the propulsion device shown in Fig. 6 as a component, and a plurality of the The structure is such that each straight line perpendicular to both the rotation axis and the rotation axis is continuous at a position having a coincident phase with the low-speed rotation of the oscillator in both the forward and reverse directions.

In FIG. 7, the propulsion device has a planar rolling element 55, a rotating body 56, and a rotating body 57, which rotate at a high speed of 3 mm in total. Further, the surface rolling body 55 has an image rotation axis a and a rotation axis d of low-speed rotation that are not coincident with or parallel to the rotation axis, and similarly, the rotation body 56 also rotates with the rotation axis b. The plane evolving body 57 has a rotation axis c and a rotation axis f. The propulsion device includes an axis orthogonal to both the plane of rotation of the image bearing body 55 and the rotation axis a of its low-speed plane rotation, the plane of rotation of the rotating body 56 and its low plane rotation. These three axes are the axis orthogonal to both the rotation axis b of the high-speed rotation and the axis orthogonal to both the rotation axis of the rotating body 57 and the rotation axis c of the low-speed rotation. An axis that is on the same straight line and that is orthogonal to both the rotation axis of the rotating body 55 and the rotation axis d of its low-speed rotation; The above three axes, which are orthogonal to both the printing axis e and the axis orthogonal to both the rotation axis of the rotating body 57 and the rotational speed f of its low-speed rotation, are also the same. It has such a position on a straight line.

Now, the three rotating bodies 5 5, 5 6, 5 7 of this propulsion device are the same angle at the same time, respectively, rotating axis a, rotating axis! ), Suppose that the face rolls around the rotation axis c at a speed lower than the face rotation speed of the image elements 55, 56, 57. If this is shown by a diagram drawn from the side, as shown in Fig. 8, the rotating shafts of the rotating bodies 55, 56, 57 that roll at high speed will roll in the direction of the arrow at low speed. . Then, three axes, axis g, axis h, and axis i, which are orthogonal to both the rotation axis of the rotating body rotating at high speed and the rotation axis of each low speed rotation, are one of them. From the phase that has been aligned, the axis j, the axis k, and the axis £ are shifted to the unmatched phase. The precession that occurs in each rotating body tends to flatten the entire device. The axis of rotation is orthogonal to both the rotating face of the rotating body and the slow rotation axis. For the rotation of the entire device, it is most efficient if the axes are the same for multiple rotating bodies. Inconsistent phases are inefficient. The inefficiency is nothing but the fact that the force of precession is consumed as an internal force except for rotating the entire device. Then, only by the force other than that consumed as the internal force, the entire device is rolled around one axis where the three axes described above coincide. In this case, each rotating body does not shake due to the rotation of the high-speed rotation changing with the low-speed face roll. This is because the power of precession that occurs as shaking is consumed as internal force.

The same can be said for the low-speed rotation of each rotating body in the opposite direction from the situation where the three axes do not coincide. Even in the process of going toward a phase where the three axes coincide by the reverse rotation of the same angle at the same time about the rotation axis d, rotation axis e, and rotation axis f of low-speed rotation, the axis that turns the entire device is It can be one, and can prevent shaking that reduces efficiency. FIG. 9 shows another embodiment of the number of rotating bodies and their respective input shafts. In other words, it is assumed that the rotating body has 2 n (n: natural number) separate main axes, that is, 2 n pieces, each of which has one input axis. Is shown. Here, the main parts of the present invention, that is, the rotating body, the main shaft, and the input shaft are extracted and shown.

The propulsion device as shown in Fig. 5 always shakes during its operation. This is the driving force that changes the angle in the space of the entire device. This is due to the fact that the axis (main axis), which is the center of the plane rotation due to precession of the image transfer body, fluctuates with low-speed rotation. And this swing reduces the efficiency of the device.

Now, if the machine equipped with this propulsion device does not shake due to its structure or form, the efficiency will not decrease, but otherwise the propulsion device shall have the structure shown in Fig. 9. By doing so, shaking can be prevented.

It consists of the propulsion device shown in Fig. 5 as a component, and a plurality of the propulsion devices, with respect to both the low-speed rotating plow of the support and the high-speed surface-rotating rotating shaft of the support. The structure is such that each of the orthogonal straight lines is continuous at a position having a coincident phase with the slow rotation of the support in both the forward and reverse directions.

In Fig. 9, the propulsion device is composed of a rotating body 58 and its low-speed rotation axis P, a rotating body 59 and its low-speed rotation axis s, a rotating body 60 and its low-speed rotation axis. q, Rotational axis of surface rolling element 61 and its low-speed image rotation t, Rotation axis of surface rotation body 62 and its low-speed rotation r, Rotational axis of surface-rotating body 63 and its low-speed rotation u Having. The propulsion device is composed of an axis orthogonal to both the rotation axis of the west body 58 and the rotation axis P of the low-speed surface rotation, the rotation body 60 and the HI rotation axis q of the low-speed rotation. The axis orthogonal to both of these two axes, and the axis orthogonal to both the surface rolling body 62 and its low-speed rotating surface rotation axis r, has the aspect that the above three axes are on the same straight line. And an axis orthogonal to both the rotation axis of the surface rotation body 59 and the rotation axis s of the low speed surface rotation, and both the rotation body 61 and the rotation axis t of the low speed surface rotation. The three axes that are perpendicular to both the axis of rotation and the axis of rotation orthogonal to both the plane of rotation 63 and its low-speed rotation plane of rotation u are also on the same straight line. Have aspects.

Now, the rotating body 5 8, the image body 60, and the rotating body 62 of this propulsion device are Let it be assumed that the rotations are 180 ° around the rotation axis P, rotation axis q, and rotation axis r of the low-speed rotation at the same time. Then, the three axes orthogonal to both the rotation of the rotating body that rotates at high speed and the rotation axis of each low-speed face-to-face rotation coincide from the non-coincident phase through the coincident phase again. Move to a phase where no. The coincident phase is the moment coincident with the straight line V in FIG. The precession generated in each of the surface rolling elements tends to rotate the entire device. The axis of rotation is orthogonal to both the rotating axis of the image rolling body and the rotation axis of low-speed rotation. Therefore, for the rotation of the entire apparatus, it is most efficient that the axis is the same for a plurality of rotating bodies. Efficiency is poor in disagreement situations. The inefficiency is nothing less than the fact that the force of precession is consumed as an internal force except for rotating the entire device. Then, the entire device rotates around one axis V where the three axes described above coincide only by the force other than that consumed as the internal force. In this case, each of the flat surfaces does not shake due to the rotation of the high-speed flat surface fluctuating with the low-speed rotation. This is because the power of precession that occurs as shaking is consumed as internal force.

The same can be said for the rotation about the rotation axis s, the rotation axis t, and the rotation axis u of the low-speed rotation, and the entire device turns around one axis, the straight line w. In other words, by adopting such a structure of the device, it is possible to reduce the number of rotation shafts for rotating the entire device to two in total, and to prevent a swing that reduces efficiency. FIG. 11 shows another embodiment of the number of rotating bodies, their respective positional relationships, low-speed rotation, and their rotating shafts. FIG. 11 is a perspective view of a propulsion device of the present invention in which four rotating bodies, each of which supports a rotating body, are mounted at the corners of a square. A battery 65 serving as a power supply and a motor 66 are attached to the chassis 64 of the propulsion device. When the motor 66 rotates, the rotation is transmitted to the pulley 67, belt 68, and pulley 69 at a reduced speed.

The SI 70 is rotated at low speed on the support 70 on which 6 9 is attached. The support 70 supports the rolling element 71, and the rotating body 71 is mounted on the support 70, and the rotation of the motor 72 is controlled by pulleys 73, belts 74, and pulleys 75. The motor rotates at a high speed by transmitting at an increased speed. In addition, the device is a flat-body 7 6, a rotary body 7 7, and a rotary body supported by a support having the same structure.

Has 7 8

The four high-speed rotating bodies 7 1, T 6, 7 7, 7 8 of this propulsion device do not coincide with or are not parallel to their rotation axes. Low speed around the (input shaft) The switch 79 controls the timing and the direction of rotation for all the westward turns.

Now, each of the supports of the propulsion device is in the state shown in Fig. 11, and the surface rolling direction of each image plate when viewed from the outside of the device (hereinafter referred to as the high speed rotation of the surface All directions are the directions as viewed from the outside of the device.) Force The rotating body 71 and the rotating body 78 rotate at high speed in the clockwise direction, and the rotating body 76 and the rotating body 77 Is rotating at a high speed in the reverse direction of the clock, and the switch is powerful, and the following switch switching process is performed as one cycle.

The switch switching process is as follows. In the first process, the rotating body 71 is viewed clockwise as viewed from above the drawing (hereinafter, the direction of low-speed rotation of the image printing body is all from above the drawing). see the direction when the) 1 8 0 °, Mententai 7 6 1 8 0 ⁰ in the opposite direction of the watch, each rotate simultaneously. In the second step, after the end of the above image transfer, the surface rolling body 77 is rotated 180 ° clockwise. The body 78 rotates 180 ° in the opposite direction of the clock, each rotating simultaneously. In the third stroke, all the rotating bodies are simultaneously rotated by 180 ° in the opposite directions to those in the first and second strokes. A cycle consisting of the above steps

The operation of the entire apparatus in this case will be described. First, have you the first step, 1 8 0 ⁰ rotates in the direction of the rotary member 71 clockwise, the rotary shaft that rotates at high speed, causing precession the angle in that space is changed. Further, when the rotating body 76 is rotated 180 ° in the reverse direction of the clock, precession occurs in the same manner. The force of the precession generated in each of the flat body 71 and the rotating body 76 rotates the entire device in a clockwise direction with the straight line connecting both of them as a rotation axis as viewed from the front of the drawing. The force that rotates the entire device about an axis other than the rotation axis is an internal force and does not appear outside.

Next, in the second stroke, both the rotating bodies are precessed by the simultaneous 180 ° rotation of the rotating body 77 in the clockwise direction and the rotating body 780 in the opposite direction of the clock, respectively. Causes movement. The force of the precession generated in each case turns around the straight line connecting the rotating body 77 and the rotating body 78 in the direction opposite to the clock when the entire apparatus is viewed from the front of the drawing. The force that rotates the entire device about an axis other than the rotation axis is an internal force and does not appear outside.

Furthermore, in the third step, when all the surface rolling bodies are rotated at the same time, the force of the precession generated in each of the rotating bodies becomes an internal force and does not appear outside, so the device does not move.

At the end of one cycle above, the propulsion device will rotate around its different rotation axis (output shaft) at different times, with each rotation lifting the center of the device upward. . As a result, the device has been translated upward. And there are the second, third, In any subsequent cycle, it can move in parallel as well.

It should be noted that the process of one cycle of switch switching described here does not necessarily have to be as described above. For example, after this cycle, the low-speed rotation of the rotating body 71 and the rotating body 78 simultaneously and then the low-speed rotation of the rotating body 76 and the flat body 77 simultaneously Good. Furthermore, here, the low-speed rotation of the rotating body is such that adjacent ones are simultaneously rotated.However, in the case of a propulsion device having more than five rotating bodies, they are not adjacent to each other. The same effect can be obtained even if the left and right rotators are given low speed rotation at the same time with the body at least 1 mm apart. However, the same effect cannot be obtained if the straight line connecting the two rotating bodies, which rotate at low speed simultaneously, passes through the center of the regular polygon on which the rotating bodies are arranged. . This is because parallel movement cannot be obtained depending on the rotation of the entire apparatus in that case. FIG. 12 is a diagram showing the number of surface rolling elements, their respective positional relationships, low-speed surface rolling, and another embodiment of the input shaft, as a main part of the propulsion device of the present invention, The main axis and the input axis are extracted and shown.

The propulsion device shown in Fig. 12 has a 3 偭 rotating body that rotates at high speed, i.e., a rotating body 80 that rotates at high speed around the rotation axis AA, and a high-speed rotation around the rotation axis AB. It has a rotating image bearing member 81 and a surface rotating member 82 rotating at high speed around the rotation axis AC. The rotation axis for rotating each of the rotating bodies 81 to 83 at a low speed is parallel to the surface of an equilateral triangle in which the three rotating bodies 81 to 83 are arranged. 0 rotates at a low speed around the plane rotation axis BA, and thereafter, similarly, the plane rotation body 8 1 has the IS rotation axis BB, the image plane 8 2 has the image rotation axis BC, and the like. Make a quick rotation.

Next, the switching cycle of the switch of the propulsion device thus configured and its operation will be described.

This propulsion device shows a case where the rotation axes of the three surface rolling bodies 81 to 83 are all parallel to the surface of a regular triangle. The direction of the high-speed rotation is that only the rotator 80 is rotating in the opposite direction to the clock when viewed from the outside of the device, and all other components are rotating in the clockwise direction. Then, the direction of the low-speed rotation is expressed as a direction when each rotating body is viewed from the intersection of the two rotation axes simultaneously rotating at a low speed.

As a first step, the plane rolling body 80, 180 ° in the clockwise direction around the rotation axis BA, the rotating body 81, 180 ° in the clockwise direction around the rotation axis BB, simultaneously Rotate. Then, the device rotates about the straight line C A as a rotation axis by the force of precession.

After the end of the above-mentioned process, as a second process, the surface rolling body 81 is rotated 180 ° clockwise around the rotation axis BB, and the rotation body 82 is rotated counterclockwise around the rotation axis BC. To 180. , Rotate at the same time. Then, due to the force of the precession, the device turns around the straight line CB as the rotation axis.

Further, after the end of the stroke, as a third stroke, the rotating body 82 is rotated clockwise around the rotation axis BC by 180 °, the rotating body 80 is rotated clockwise around the rotation axis BA. 180 ° in the opposite direction, rotating simultaneously. Then, due to the force of precession, the device turns around the straight line C C as the rotation axis.

When the above three steps have been completed and one cycle is completed, the device makes a rotational movement around its different rotation axis with a time lag, and all of the rotations of the device are made with the center of the device in front of the figure. If you think of this diagram as looking at the device from directly above, you will lift it upwards. As a result, the device has been translated upward. And In the second, third, or any subsequent cycle, it can move in parallel as well.

Also, if the rotation axis of the low-speed westward rotation is like this, the rotation direction of the low-speed rotation on the device does not need to be reversed, and it is necessary to simultaneously rotate all the gyroplanes in the opposite quotient. Not so efficient.

However, the efficiency is best when the number of rotating bodies is three, and the efficiency decreases as the number of rotating bodies increases, provided that only two adjacent rolling bodies are rolled simultaneously as a set. This is because the angle between the rotation axis on which the device rolls and the rotation axis of the precession force generated on the surface rolling body becomes gradually larger. By the way, the angle difference is 30 ° for 3 pieces, 45 ° for 4 pieces, 54 ° for 5 pieces, and 60 ° for 6 pieces. FIG. 13 shows another embodiment relating to the drive of the image transfer body which is turned at high speed. Rotation of this example, if form _t Thus rotator itself is constructed around the shafts bets 8 5 from the engine 8 3 and the flywheel 8 4 which is rotating part of the motor, or all For example, the weight of the entire device can be reduced, which leads to an increase in the rotation angle of the device, which is efficient. FIG. 14 shows another embodiment relating to the input shaft. In the image transfer body 86 of this example, a rotation shaft 87 serving as a main shaft and a plane rotation shaft 88 serving as an input shaft are arranged so as to be orthogonal to each other. The force of the precession is generated by changing the angle in the space of the plane rotation axis 87 of the high speed rotating body 86, and is orthogonal to the rotating axis 87 of the high speed rotating body 86. It appears most efficiently when the rotating shaft 8 rotates slowly and exerts a rolling force on the entire device. FIG. 15 shows another embodiment relating to the rotating body and the input shaft. When the rotating body 89 rotating at high speed is divided into upper and lower parts by the boundary surface 91 which does not coincide with or is not parallel to the rotating axis 90 and has a rotating axis of low-speed rotation, The rotating bodies 89 rotating at high speed have the same angular momentum. The use of such a low-speed rotating shaft can prevent unnecessary vibration and shaking of the device. The simplest structure is made of a homogeneous material and a vertically symmetric rotating body

Fc is made, and the axis passing through the center of gravity 92 is set as the rotation axis of low-speed rotation. FIG. 16 shows another embodiment relating to the support of the rotating body. If the rotating body 93 rotating at high speed is left as it is, it tries to keep its rotating shaft 94 constant in the space. If the angle of the rotating body 93 in the space is forcibly changed, a large mechanical load is applied to the bearing portion. By distributing the burden to a larger part, it is possible to increase the durability of the entire device. Therefore, as shown in FIG. 16, it is effective to use a support 95 around the outer periphery of the rotating body 93 rotating at high speed. FIG. 17 shows another embodiment of the structure for supporting the rotating body and rotating at a low speed, and is a cross-sectional view of a plane including the rotating shaft of the rotating body. The bearing 97 supporting the rolling element 96 has at least two projections

A low-speed rotation is achieved by moving the projection 98 in the circular groove 99. FIG. 18 is a perspective view showing the locus 100 of the convex portion 98 moving in the premises by omitting the circular groove 99 from FIG. Slow rotation If such a structure is used to apply a high-speed surface rolling to the surface rolling body 96, a low-speed surface rolling is applied to the image rolling body 96. In combination with the universal hand, a low-speed rotation axis different from the shaft rotation axis can be set with a simple structure. FIG. 19 is a cross-sectional view of another embodiment of the structure for supporting the image-forming body and rotating at a low speed, taken along a plane covering the rotation axis of the image-forming body. The bearing 97 has a circular concave portion 101, and its movement is regulated by the guide protrusion 102, and the bearing 97 rotates at a low speed. FIG. 20 is a perspective view showing another embodiment relating to a structure that rotates at a low speed by extracting a trajectory drawn by a support or a bearing. An indented groove is bent in two semicircles that share a string along the way, and another similarly bent groove is formed as a result of the other circular grooves being bent together. When combined with a semi-circular groove, it is combined at a position where two discontinuous circular grooves are formed, and one of the convex portions 103 of the support or bearing having two convex portions is formed in the groove. The locus of each of the convex portions 103 and 104 when the other convex portion 104 moves in the other groove is shown by the locus 105 and the locus 10. Six. By adopting such a structure that performs a low-speed rolling, it is possible to change the rotation axis every time the support or the bearing makes a half turn with a simple structure. The change of the rotation axis is an effective structure that prevents the decrease in efficiency due to the increase in the number of surface rolling bodies, as described at the end of the description related to FIG. By freely setting the surface rotation axis of low-speed rotation with such a structure, the angle between the rotation axis of the device rotating and the rotation axis of the precession force generated in the surface rolling body itself can be increased. Make smaller You can also. Industrial applicability

As described above, the propulsion device of the present invention can be used to move a transport machine on the ground or on the water, or to control the movement and attitude of the transport machine in water, in the air or in space, and to control industrial machines such as robots It can be used for moving or controlling the position of a movable part.

Claims

Requested brush pen

1. A propulsion device for propulsion using precession, comprising a rigid rigid body that is rotatably supported around a main shaft and a high speed rigid body with the main shaft as a center. High-speed driving means for rotating and driving, at least two input shafts which are not coincident with or parallel to the main axis of the surface rolling body, and Low-speed driving means that rotates at low speed

2. A propulsion device for propulsion using precession motion, comprising at least two highly rigid gyroscopic bodies which are supported so as to be able to roll around the main shaft, and High-speed driving means for rotating each rotating body at a high speed; at least one input shaft provided at each rotating body and not coincident with or parallel to the main axis thereof; A low-speed driving means for rotating the rolling element at a lower speed than the rotation of the high-speed driving means; and a control for controlling the rotational force from the low-speed driving means to alternately or simultaneously change the plane rotation directions of the input shafts. And a propulsion device comprising:

3. When a plurality of sets of the at least two rotating bodies are provided, a straight line orthogonal to both the main axis of each of the surface rolling bodies and the input axis of each of the rotating bodies is in both forward and reverse directions of each of the rotating bodies. 3. The propulsion device according to claim 2, wherein the propulsion device is arranged continuously so that there is a coincident phase when the motor rotates at a low speed.

4. A propulsion device for propulsion using precession, wherein a highly rigid image body supported rotatably around the main shaft and the rotating body at a high speed around the main shaft. High-speed driving means for image driving; a first input shaft that is not coincident with or parallel to the main axis of the image printing body; A second input shaft parallel to the first input shaft, low-speed driving means for carrying out surface rolling around each of the input shafts at a speed lower than rotation of the high-speed driving means, and Rotating force rotates the rotator in a first direction around the first input shaft, rotates the rotator in a second direction around the second input shaft, and outputs the first and second inputs. Control means that returns to the original position without rotating the shaft

5. When a plurality of the rotating bodies are provided, a straight line orthogonal to both the main axis of each of the rotating bodies and the first input axis, and both the main axis and the second input axis. 5. The propulsion according to claim 4, wherein a straight line perpendicular to the rotating body is arranged so that there is a coincident phase when the respective rotating bodies rotate at low speed in both forward and reverse directions.

6. A propulsion apparatus for propulsion by using the precession is rotatably supported around the main shaft, stiffness is high, the position of each apex of a regular n ₄ square (n ₄ is an even number of 4 or more) and ii ₄ pieces of rotating body disposed in a high-speed drive motion means for rotating the pre-Symbol each rotary body around the respective spindle at a high speed, the straight line connecting the rotating bodies of the positive n ₄ square Two sets that do not pass through the center are regarded as one set, do not pass through the center of the regular n-tetragon connecting the pair of rotating bodies, do not coincide with the straight line or are not parallel, and coincide with the main axis of the rotating body not city or parallel, and an input shaft perpendicular to the positive n ₄ square surface, and low-speed driving means for surface rolling slower than Menten of the high-speed drive means the rotating body as centered on the input shaft , The set of rotating bodies are simultaneously rotated about the input shaft, The other one set of image rotating bodies same as the above condition is simultaneously rotated, and thereafter, the rotation of the other one set of rotating body is repeated under the same condition as above, and then the all the rotating bodies are simultaneously rotated in opposite directions. Rotate Control means for controlling the low-speed drive means as described above.

7. A propulsion apparatus for propulsion by using the precession, are Menten rotatably supported around the main shaft, stiffness is high, positive n ₃ triangle of each vertex of the (n ₃ is an integer of 3 or more) N _three surface rolling elements arranged at the position, high-speed driving means for rotating each of the surface rolling elements at a high speed around each of the spindles, and a straight line connecting the surface rolling elements with each other. n ₃ rectangular two not pass through the center of one set, the not through a positive n 3 triangular central connecting the set of rotary bodies, not to do or parallel match the straight line, and wherein the surface rolling body not spindle does not match or parallel, and slow the positive n ₃ triangular input shaft parallel to the plane, it rotates the rotary member about said input shaft at a lower speed than the rotation of the high-speed drive means Driving means, and simultaneously rotating the pair of surface rolling bodies around the input shaft; Another set of the same set, which does not include or include one of the sets, is simultaneously turned, and thereafter, another set of rotating bodies which is the same as the above conditions is repeatedly turned. The propulsion device comprises the control means for controlling the low-speed drive means as described above.

8. The rotating body according to claim 1, wherein the rotating body forms a part or the whole of a motor that drives the rotating body, and turns over at high speed. Propulsion device according to paragraph 4 or 5 or 6 or 7.

9. The propulsion according to claim 1, wherein the main shaft is orthogonal to the input shaft. 9. The propulsion according to claim 1 or 2, wherein the main shaft is orthogonal to the input shaft. apparatus.

10. The method according to claim 1, wherein when the surface rolling body is divided by using a plane covering the input shaft as a boundary surface, the two angular momentums are equal to each other. 3 or 4 or 5 Or the propulsion device according to paragraph 6 or Ί.

1. The rotating body is supported on its outer periphery by a supporting body. 9. The method according to claim 1, wherein the rotating body is supported by a supporting body. Propulsion device.

2. The claim as claimed in claim 1, wherein the input shaft has a support structure that is set on a shaft different from a rotation shaft of a rotary motion used for low-speed rotation transmission. Propulsion device according to paragraph or paragraph 6 or 7.

3. The support structure is characterized in that at least two projections provided on a bearing or a support for receiving a main shaft of the rotating body are guided by a circular guide groove and move. The propulsion device according to claim 12, wherein

4. In the support structure, the guide groove is bent in two semicircles that share a string in the middle, and another similarly bent groove is formed in another circular shape. When combined with a semi-circular groove formed as a result of bending of the groove, it is combined at a position where two discontinuous circular grooves are formed, and one of the bearing or the support having the two convex portions, By moving the protrusion in one groove and the other protrusion in the other groove, the rotation axis changes each time the bearing or the support rotates half-plane. The propulsion device according to paragraph 13 of the claim.

5. The support structure is characterized in that a circular groove provided in a bearing or a support for receiving a main shaft of the rotating body moves along at least three guide protrusions. The propulsion device according to claim 12, wherein