Magnetic gear rotary electric machine

Abstract

A magnetic gear rotary electric machine includes a housing, a stator having a stator core, a coil, and a stator magnet provided on an inner side of the stator core, a first rotor having a pole piece provided on an inner side of the stator, a second rotor having a rotor core provided on an inner side of the first rotor and a plurality of rotor magnets provided at intervals in a circumferential direction on the rotor core, a plurality of movable bearings provided on the housing, abutting against an outer peripheral surface of at least one of the first rotor and the second rotor, and arranged at intervals in the circumferential direction, and an actuator that moves the movable bearings in a direction including a plane orthogonal to an axis.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a magnetic gear rotary electric machine.

[0002] This application claims priority to Japanese Patent Application No. 2020-010232 filed on January 24, 2020, the contents of which are incorporated herein by reference. BACKGROUND

[0003] In Patent Document 1 described below, a magnetic gear rotary electric machine in which a low-speed rotor (first rotor), a high-speed rotor (second rotor), and a stator can be coaxially relatively rotated is disclosed.

[0004] In a case where the magnetic gear rotary electric machine is used as an electric machine, for example, the high-speed rotor is rotated by a magnetic motive force of a coil provided to the stator, and the low-speed rotor as an output shaft is rotated at a predetermined reduction ratio by a high-order harmonic magnetic flux.

[0005] PRIOR ART DOCUMENTS

[0006] PATENT DOCUMENTS

[0007] Patent Document 1: Japanese Patent Application Publication No. 2014-163431 SUMMARY

[0008] PROBLEMS TO BE SOLVED BY THE INVENTION

[0009] In the magnetic gear rotary electric machine as described above, the rotor is normally supported so as to be rotatable with respect to the stator via a rolling bearing. However, there are cases where dimensional tolerances of the stator or the rotor, deformation due to self-weight or external force, wear or dimensional change due to long-term use occur. Therefore, the air gap between the stator and the rotor can change. As a result, stable use of the magnetic gear rotary electric machine is hindered.

[0010] The present disclosure was achieved in order to solve the above-described problem, and aims to provide a magnetic gear rotary electric machine capable of appropriately maintaining an air gap for a long period of time.

[0011] MEANS FOR SOLVING THE PROBLEM

[0012] To address the aforementioned issues, the magnetic gear rotary motor disclosed herein comprises: a housing; a stator having a stator core, coils, and stator magnets, the stator core being fixed to the housing and arranged in a ring around an axis, the coils being disposed in slots within the stator core, and a plurality of stator magnets being arranged at intervals in the circumferential direction on the inner side of the stator core; a first rotor having pole pieces, a plurality of pole pieces being arranged at intervals in the circumferential direction on the inner side of the stator along the axis; a second rotor having a rotor core disposed inside the first rotor and a plurality of rotor magnets arranged at intervals in the circumferential direction on the rotor core; a plurality of movable bearings disposed in the housing, abutting against the outer circumferential surface of at least one of the first rotor and the second rotor and arranged at intervals in the circumferential direction; and an actuator that moves the movable bearings in a direction including a plane orthogonal to the axis.

[0013] The effects of the invention

[0014] According to this disclosure, a magnetic gear rotary motor that can maintain the air gap appropriately for a long period of time can be provided. Attached Figure Description

[0015] Figure 1 This is a cross-sectional view showing the structure of the magnetic gear rotary motor according to the first embodiment of this disclosure.

[0016] Figure 2 yes Figure 1 A sectional view at line II-II.

[0017] Figure 3 This is a diagram showing the magnetic gear rotary motor of the first embodiment of this disclosure viewed from the axial direction.

[0018] Figure 4 This is a hardware structure diagram of the control device according to the first embodiment of this disclosure.

[0019] Figure 5 This is a functional block diagram of the control device according to the first embodiment of the present disclosure.

[0020] Figure 6 This is a cross-sectional schematic diagram showing the structure of the magnetic gear rotary motor according to the second embodiment of this disclosure. Detailed Implementation

[0021] [First Implementation Method]

[0022] (Structure of a magnetic gear rotary motor)

[0023] The following is for reference Figures 1 to 5 The magnetic gear rotary motor 100 according to the first embodiment of this disclosure will be described. For example... Figures 1 to 3As shown, the magnetic gear rotary motor 100 includes a stator 1, a first rotor 2, a second rotor 3, a housing 4, a bearing B, an actuator 8, a gap detection unit Sg, and a control device 90. The magnetic gear rotary motor 100 is mounted on a rotating shaft 6 extending along the axis Ac. When power is supplied from the outside, the first rotor 2 and the second rotor 3 rotate about the axis Ac, thereby functioning as a motor. On the other hand, when a rotational force (torque) is applied to the rotating shaft 6 from the outside, it functions as a generator through the induced electromotive force accompanying the rotation of the first rotor 2 and the second rotor 3.

[0024] (Structure of the casing and stator)

[0025] The housing 4 is annular in shape with the axis Ac as its center. A space is formed inside the housing 4. The stator 1 is disposed on the inner surface of the housing 4, facing radially inward relative to the axis Ac (inner circumferential surface 5A of the housing).

[0026] like Figure 2 As shown, the stator 1 has a stator core 1A, multiple coils C, and multiple stator magnets 1B. The stator core 1A has: an annular back yoke 71 centered on the axis Ac; and multiple teeth 7T that protrude radially inward from the back yoke 71 and are arranged at intervals in the circumferential direction. Each tooth 7T has: a tooth body 72 extending radially inward from the back yoke 71; and a tooth front end 73 integrally disposed at the radially inward end of the tooth body 72. The tooth front end 73 extends outward toward both sides in the circumferential direction.

[0027] A coil C is mounted on the tooth body 72. The coil C is formed by winding copper wire or the like around the tooth body 72. The area surrounded by the back yoke 71, a pair of adjacent tooth bodies 72, and the front end 73 of the tooth forms a slot S for accommodating the coil C.

[0028] On the inner circumferential surface of the stator core 1A, specifically on the radially inner side of the tooth tip 73, a plurality of stator magnets 1B are arranged adjacent to each other in the circumferential direction. The stator magnets 1B are, for example, permanent magnets such as ferrite magnets or neodymium magnets. The poles of the adjacent stator magnets 1B are different from each other. That is, stator magnets 1B with different poles are arranged alternately in the circumferential direction.

[0029] (Structure of the first rotor)

[0030] like Figure 1As shown, the first rotor 2 is disposed inside the stator 1. The first rotor 2 has a circular plate portion 5, a first rotor body 2H, and pole pieces 2P. The circular plate portion 5 is a circular plate centered on the axis Ac and is mounted on the rotating shaft 6. The first rotor body 2H is mounted on the outer periphery of the circular plate portion 5. The first rotor body 2H has a cylindrical portion 21 centered on the axis Ac and a pair of support portions 22 extending radially outward from the outer periphery of the cylindrical portion 21. The cylindrical portion 21 is supported on the inner periphery of the housing 4 via a bearing B (outer bearing B1) described later. A plurality of pole pieces 2P are provided at the radially outer end edges of the pair of support portions 22. The pole pieces 2P are magnetic materials that generate high-frequency magnetic flux through interaction with the magnetic forces of the stator magnet 1B and the rotor magnet 3B described later. Figure 2 As shown, multiple electrodes 2P are arranged at intervals in the circumferential direction.

[0031] (Structure of the second rotor)

[0032] like Figure 1 As shown, the second rotor 3 is disposed between a pair of support portions 22 within the first rotor body 2H. The second rotor 3 has a rotor core 3A and a rotor magnet 3B. The rotor core 3A is annular about the axis Ac. The inner circumferential surface of the rotor core 3A is supported by the outer circumferential surface of the cylindrical portion 21 in the first rotor body 2H via a bearing B (inner bearing B2) to enable rotation. Figure 2 As shown, multiple rotor magnets 3B are arranged circumferentially on the outer peripheral surface of the rotor core 3A. The rotor magnets 3B face radially outward relative to the aforementioned pole piece 2P.

[0033] (Structure of the outer bearing)

[0034] like Figure 3 As shown, multiple outer bearings B1 (movable bearings) are spaced apart circumferentially along the axis Ac (three in one example). Figure 3 In the example, a pair of outer bearings B1 (lower bearing BL) are provided below the horizontally extending axis Ac, and an outer bearing B1 (upper bearing BU) is provided above it.

[0035] The outer bearing B1 supports the outer peripheral surface (outer peripheral surface 2S) of the aforementioned cylindrical portion 21 and is movable in a direction including a plane orthogonal to the axis Ac. Specifically, the outer bearing B1 has a movable support portion 8A and a roller portion 8R. The movable support portion 8A is supported on the aforementioned housing 4. The movable support portion 8A is rod-shaped, extending from the housing 4 toward the cylindrical portion 21 in a plane orthogonal to the axis Ac. The roller portion 8R is provided at the front end of the movable support portion 8A (the end closest to the cylindrical portion 21). The roller portion 8R is a wheel capable of rotating about a rotation axis extending in a direction parallel to the axis Ac. The roller portion 8R supports the cylindrical portion 21 by rotating while abutting against the outer peripheral surface 2S of the cylindrical portion.

[0036] An actuator 8 is mounted at the base end of the movable support portion 8A (the end opposite to the front end). Specifically, the actuator 8 is preferably a solenoid, stepper motor, or the like, driven by an electrical signal received from an external source. By driving the actuator 8, the movable support portion 8A can move freely in a direction encompassing a plane orthogonal to the axis Ac. The actuator 8 operates based on an electrical signal sent from the control device 90, described later. That is, the actuator 8 is electrically connected to the control device 90 via a signal line.

[0037] (Structure of the gap detection unit)

[0038] like Figure 1 As shown, a gap detection unit Sg is provided on the inner circumferential surface (inner circumferential surface 5A) of the housing 4. The gap detection unit Sg detects the radial separation distance, i.e., the air gap, between the stator 1 (stator magnet 1B) and the outer circumferential surface (outer circumferential surface 22S) of the first rotor 2 in a non-contact manner. Specifically, a capacitive distance sensor is preferably used as the gap detection unit Sg. The air gap value detected by the gap detection unit Sg is input to the control device 90 described later. That is, the gap detection unit Sg is electrically connected to the control device 90 via a signal line (see reference). Figure 3 ).

[0039] (Structure of the control device)

[0040] like Figure 4As shown, the control device 90 is a computer equipped with a CPU 91 (Central Processing Unit), a ROM 92 (Read Only Memory), a RAM 93 (Random Access Memory), an HDD 94 (Hard Disk Drive), and a signal transceiver module 95 (I / O: Input / Output). The signal transceiver module 95 receives the value of the air gap detected by the gap detection section Sg as an electric signal. In addition, the signal transceiver module 95 sends an electric signal that controls the driving of the actuator 8 to the actuator 8. Note that the signal transceiver module 95 may, for example, also transceive a signal amplified by a charge amplifier or the like.

[0041] As shown in FIG. 1, the control device 90 is a computer equipped with a CPU 91 (Central Processing Unit), a ROM 92 (Read Only Memory), a RAM 93 (Random Access Memory), an HDD 94 (Hard Disk Drive), and a signal transceiver module 95 (I / O: Input / Output). The signal transceiver module 95 receives the value of the air gap detected by the gap detection section Sg as an electric signal. In addition, the signal transceiver module 95 sends an electric signal that controls the driving of the actuator 8 to the actuator 8. Note that the signal transceiver module 95 may, for example, also transceive a signal amplified by a charge amplifier or the like. Figure 5 As shown, the CPU 91 of the control device 90 has a control section 81, a storage section 82, a determination section 83, and a driving section 84 by executing a program stored in advance by the device. The control section 81 controls the actions of the storage section 82, the determination section 83, and the driving section 84. The storage section 82 stores, as a table, the relationship between the value of the appropriate air gap and the position coordinates of each of the outer side bearings B1 (roller sections 8R) in advance.

[0042] The determination section 83 compares the detection result of the gap detection section Sg with the table stored in the storage section 82, and determines whether adjustment of the air gap (i.e., movement of the outer side bearing B1) is needed. Also, the determination section 83 calculates the amount of movement of the outer side bearing B1 in the case where movement of the outer side bearing B1 is needed. The driving section 84 drives the actuator 8 based on the determination result of the determination section 83.

[0043] (EFFECTS)

[0044] Next, the action of the magnetic gear rotary electric machine 100 will be described. In the case where the magnetic gear rotary electric machine 100 is used as a motor, electric power is first supplied to the coil C from the outside. By this, the coil C is excited. The second rotor 3 rotates around the axis Ac by the magnetic force of this coil C. Further, the first rotor 2 rotates by the rotation of the second rotor 3. The rotational speed of the first rotor 2 is reduced on the basis of the reduction ratio based on the number of poles Ph of the first rotor 2 and the number of pole pairs Ns of the second rotor 3. Specifically, the reduction ratio G is G = Ph / Ns.

[0045] On the other hand, in a case where the magnetic gear rotary electric machine 100 is used as a generator, a rotational force (torque) around the axis Ac is applied to the rotary shaft 6. Due to this, the first rotor 2 and the second rotor 3 rotate by the rotation of the rotary shaft 6. Along with the rotation of the first rotor 2 and the second rotor 3, an induced electromotive force is generated in the coil C. By taking out this electric power to the outside, the magnetic gear rotary electric machine 100 can be used as a generator.

[0046] However, in the magnetic gear rotary electric machine 100 as described above, conventionally, the first rotor 2 is supported so as to be rotatable with respect to the stator 1 via a rolling bearing. However, there are cases where dimensional tolerance of the stator 1 or the rotor, deformation due to self weight or external force, or change in dimension due to long-term use occur. Therefore, there is a possibility that the air gap between the stator 1 and the first rotor 2 changes. As a result, there is a possibility that stable use of the magnetic gear rotary electric machine is hindered.

[0047] Therefore, in the present embodiment, a structure is adopted in which the first rotor 2 is supported by the above-described outer side bearings B1 (movable bearings). According to this structure, the outer peripheral surface (cylindrical portion outer peripheral surface 2S) of the first rotor 2 is supported by a plurality of the outer side bearings B1. Also, these outer side bearings B1 are movable in a direction including a plane orthogonal to the axis Ac by the actuator 8. Due to this, in a case where the separation distance (air gap) between the stator 1 and the first rotor 2 changes, by moving the outer side bearings B1 according to the amount of this change, it is possible to restore the air gap before the change. As a result, it is possible to appropriately maintain the air gap for a long period of time. Due to this, it is possible to use the magnetic gear rotary electric machine 100 more stably for a long period of time.

[0048] Also, according to the above-described structure, by the roller portion 8R provided at the front end of the movable support portion 8A, it is possible to support the first rotor 2 in a state in which it can smoothly rotate.

[0049] Further, according to the above-described structure, the control device 90 drives the actuator 8 based on the detection result of the gap detection portion Sg. Due to this, in a case where the air gap changes, it is possible to immediately detect this and autonomously appropriate the air gap.

[0050] In addition, according to the above-described structure, since an electrostatic capacity type sensor is used as the gap detection portion Sg, it is possible to accurately detect the separation distance (air gap) between the stator 1 and the first rotor 2 in a non-contact state. Therefore, the gap detection portion Sg does not hinder the rotation of the first rotor 2. Due to this, it is possible to more stably use the magnetic gear rotary electric machine 100.

[0051] The first embodiment of the present disclosure has been described above. Note that various changes and modifications can be made to the above-described structure without departing from the gist of the present disclosure. For example, in the above-described first embodiment, an example in which only the outer side bearing B1 is a movable bearing and the first rotor 2 is supported only by the movable bearing has been described. However, a structure in which the inner side bearing B2 is also the above-described movable bearing in addition to the outer side bearing B1 can also be adopted. In addition, a structure in which only the inner side bearing B2 is a movable bearing can also be adopted.

[0052] [Second Embodiment]

[0053] Next, the second embodiment of the present disclosure will be described with reference to Figure 6 The second embodiment of the present disclosure will be described. Note that the same reference numerals are assigned to the same structures as those of the above-described first embodiment, and detailed description will be omitted. As shown in the drawing, in the present embodiment, the shape of the housing 4 and the first rotor 2 is different from that of the first embodiment. The housing 4 and the first rotor 2 extend in a direction inclined with respect to the axis Ac. In addition, the magnetic gear rotary electric machine 200 of the present embodiment is further provided with a rotor moving portion 8B.

[0054] More specifically, the housing 4 and the first rotor main body 2H extend from the radially inner side toward the outer side as they go from one side in the direction of the axis Ac toward the other side. Due to this, the inner peripheral surface of the stator 1 (stator magnet 1B) extends from the radially outer side toward the inner side as it goes from one side in the direction of the axis Ac toward the other side. The outer peripheral surface of the first rotor 2 (first rotor outer peripheral surface 22S) facing the radially inner side of this inner peripheral surface also similarly extends from the radially outer side toward the inner side as it goes from one side in the direction of the axis Ac toward the other side.

[0055] Further, the first rotor 2 is movable in the direction of the axis Ac by the rotor moving portion 8B. That is, by driving the rotor moving portion 8B, the first rotor 2 is relatively displaced with respect to the stator 1. Although not shown in detail, the rotor moving portion 8B is controlled in its operation by the processing of the control device 90 based on the detection result of the gap detection portion Sg, similarly to the structure described in the first embodiment.

[0056] According to the above structure, the inner peripheral surface of the stator 1 and the outer peripheral surface of the first rotor 2 (first rotor outer peripheral surface 22S) extend from the radially outer side to the inner side as they move from the side of the axis Ac direction to the other side. Therefore, for example, in the case where the first rotor 2 is moved to the other side of the axis Ac direction, the separation distance (air gap) between these stator 1 and the first rotor 2 changes in the direction in which it becomes smaller. Conversely, in the case where the first rotor 2 is moved to the side of the axis Ac direction, the air gap between these stator 1 and the first rotor 2 changes in the direction in which it becomes larger. In this way, by moving the first rotor 2 using the rotor moving portion 8B alone, it is possible to easily adjust the air gap. As a result, it is possible to appropriately maintain the air gap for a long period of time, and it is possible to stably use the magnetic gear rotary electric machine 100.

[0057] The above describes the second embodiment of the present disclosure. Note that various changes and modifications can be made to the above structure without departing from the gist of the present disclosure. For example, the structure of the outer side bearing B1 (movable bearing) described in the first embodiment can be combined in the structure of the second embodiment. Also, in the above second embodiment, the structure in which the entirety of the housing 4 and the first rotor 2 are inclined with respect to the axis Ac was described. However, on the basis of appropriately adjusting the air gap by moving the first rotor 2 in the axis Ac direction as described above, it is sufficient that at least only the inner peripheral surface of the stator 1 and the outer peripheral surface of the first rotor 2 (first rotor outer peripheral surface 22S) extend from the radially outer side to the inner side as they move from the side of the axis Ac direction to the other side. In other words, the structure of other components other than these inner peripheral surface and outer peripheral surface can be appropriately changed according to the design, specifications.

[0058] [Postscript]

[0059] The magnetic gear rotary electric machine 100 described in each embodiment can be grasped as follows, for example.

[0060] (1) The magnetic gear rotary electric machine 100 of the first mode includes: a case 4; a stator 1 including a stator core 1A fixed to the case 4 in a ring shape with an axis Ac as a center, a coil C provided in a slot S of the stator core 1A, and a plurality of stator magnets 1B provided at the inner side of the stator core 1A at intervals in the circumferential direction of the axis Ac; a first rotor 2 including a plurality of pole pieces 2P provided at the inner side of the stator 1 at intervals in the circumferential direction of the axis Ac; a second rotor 3 including a rotor core 3A provided at the inner side of the first rotor 2, and a plurality of rotor magnets 3B provided at the rotor core 3A at intervals in the circumferential direction; a plurality of movable bearings provided at the case 4, abutting against the outer peripheral surface of at least one of the first rotor 2 and the second rotor 3 and arranged at intervals in the circumferential direction; and an actuator 8 that moves the movable bearings in a direction including a plane orthogonal to the axis Ac.

[0061] According to the above structure, the outer peripheral surface of at least one of the first rotor 2 and the second rotor 3 is supported by the plurality of movable bearings. Also, the movable bearings are movable in the direction including the plane orthogonal to the axis Ac by the actuator 8. Thus, in the case where the separation distance (air gap) between the stator 1 and the first rotor 2 changes, by moving the movable bearings in accordance with the amount of change, the air gap before the change can be restored. As a result, the air gap can be appropriately maintained for a long period of time.

[0062] (2) In the magnetic gear rotary electric machine 100 of the second mode, the movable bearing can also include a movable support portion 8A supported so as to be relatively displaceable with respect to the case 4, and a roller portion 8R provided at the front end of the movable support portion 8A, which rotates while abutting against the outer peripheral surface.

[0063] According to the above structure, by the roller portion 8R provided at the front end of the movable support portion 8A, at least one of the first rotor 2 and the second rotor 3 can be supported in a state in which it can smoothly rotate.

[0064] (3) The magnetic gear rotary electric machine 100 of the third mode can also include a gap detection portion Sg provided in the case 4, which detects the separation distance in the radial direction, i.e., the air gap, between the first rotor 2 and the stator 1, and a control device 90 that drives the actuator 8 based on the detection result of the gap detection portion Sg.

[0065] According to the above structure, the control device 90 drives the actuator 8 based on the detection result of the gap detection section Sg. Thus, in the case where the air gap has changed, it is possible to immediately detect the change and autonomously adjust the air gap.

[0066] (4) In the magnetic gear rotary electric machine 100 of the fourth aspect, the gap detection section Sg can also be an electrostatic capacitance type sensor.

[0067] According to the above structure, since an electrostatic capacitance type sensor is used as the gap detection section Sg, it is possible to accurately detect the separation distance (air gap) between the stator 1 and the first rotor 2 in a non-contact state. Thus, the gap detection section Sg does not interfere with the rotation of the first rotor 2. Thus, it is possible to more stably use the magnetic gear rotary electric machine 100.

[0068] (5) In the magnetic gear rotary electric machine 100 of the fifth aspect, the inner peripheral surface of the stator 1 and the outer peripheral surface of the first rotor 2 facing the inner peripheral surface in the radial direction can extend from the radial outside to the inside as they move from one side of the axial direction Ac to the other side, and the rotor moving section 8B that moves the first rotor 2 in the axial direction Ac can be further provided.

[0069] According to the above structure, the inner peripheral surface of the stator 1 and the outer peripheral surface of the first rotor 2 extend from the radial outside to the inside as they move from one side of the axial direction Ac to the other side. Thus, for example, in the case where the first rotor 2 is moved to the other side of the axial direction Ac, the separation distance (air gap) between these stator 1 and the first rotor 2 changes in the direction in which it becomes smaller. Conversely, in the case where the first rotor 2 is moved to one side of the axial direction Ac, the air gap between these stator 1 and the first rotor 2 changes in the direction in which it becomes larger. In this way, by moving the first rotor 2 using the rotor moving section 8B, it is possible to easily adjust the air gap.

[0070] Industrial applicability

[0071] According to the present disclosure, it is possible to provide a magnetic gear rotary electric machine that can appropriately maintain an air gap for a long period of time.

[0072] Explanation of reference numerals

[0073] 100, 200 magnetic gear rotary electric machine

[0074] 1 stator

[0075] 1A stator core

[0076] 1B stator magnet

[0077] 2 first rotor

[0078] 21 cylindrical portion

[0079] 22 support portion

[0080] 22S first rotor outer peripheral surface

[0081] 2H first rotor main body

[0082] 2P pole piece

[0083] 2S barrel outer peripheral surface

[0084] 3 second rotor

[0085] 3A rotor core

[0086] 3B rotor magnet

[0087] 4 housing

[0088] 5 circular plate portion

[0089] 5A housing inner peripheral surface

[0090] 6 rotation shaft

[0091] 8 actuator

[0092] 8A movable support portion

[0093] 8B rotor moving portion

[0094] 8R roller portion

[0095] 71 back yoke

[0096] 72 tooth main body

[0097] 73 tooth tip portion

[0098] 81 control portion

[0099] 82 storage portion

[0100] 83 determination portion

[0101] 84 drive portion

[0102] 90 control device

[0103] 91 CPU

[0104] 92 ROM

[0105] 93 RAM

[0106] 94 HDD

[0107] 95 signal transceiver module

[0108] Ac axis

[0109] B bearing

[0110] B1 outer bearing (movable bearing)

[0111] B2 inner bearing

[0112] BL lower bearing

[0113] BU upper bearing

[0114] C coil

[0115] S slot

[0116] Sg gap detection portion

Claims

1. A magnetic gear rotary motor, wherein, The magnetic gear rotary motor includes: case; The stator has a stator core, a coil, and a stator magnet. The stator core is fixed to the housing and is circular with the axis as the center. The coil is disposed in the slot of the stator core. Multiple stator magnets are disposed at intervals in the circumferential direction on the inner side of the stator core. A first rotor having pole pieces, wherein multiple pole pieces are arranged at intervals on the inner side of the stator in the circumferential direction of the axis; The second rotor has a rotor core disposed inside the first rotor and a plurality of rotor magnets disposed at intervals in the circumferential direction on the rotor core. A plurality of movable bearings are disposed in the housing, abutting against the outer peripheral surface of at least one of the first rotor and the second rotor and arranged at circumferential intervals; as well as An actuator that moves these movable bearings in a direction including a plane orthogonal to the axis; The housing and the first rotor extend in a direction inclined relative to the axis. The inner circumferential surface of the stator and the outer circumferential surface of the first rotor, which is radially opposite to the inner circumferential surface, extend radially from the outer side to the inner side as they move from one side of the axial direction to the other. The magnetic gear rotary motor also includes a rotor moving part that moves the first rotor in the axial direction.

2. The magnetic gear rotary motor as described in claim 1, wherein, The movable bearing has: A movable support portion, the movable support portion being supported to allow relative displacement with respect to the housing; and A roller section is disposed at the front end of the movable support section, and the roller section rotates while abutting against the outer peripheral surface.

3. The magnetic gear rotary motor as described in claim 1 or 2, wherein, The magnetic gear rotary motor also features: A gap detection unit, disposed within the housing, detects the radial separation distance, i.e., the air gap, between the first rotor and the stator; and A control device that drives the actuator based on the detection result of the gap detection unit.

4. The magnetic gear rotary motor as described in claim 3, wherein, The gap detection unit is an electrostatic capacitive sensor.

Images