Device for winding / unwinding a wire

Abstract

The present invention describes an apparatus for winding / unwinding a line, comprising: - an input shaft (10) and a hollow through-type output shaft (20), the two shafts being coaxial and rotatable about a longitudinal axis (L); - a synchronous motor (30) having a permanent magnet and including a rotor (31) that rotates integrally with the input shaft (10); - a cycloidal reducer (50) including an eccentric cam (51) mounted integrally with the input shaft (10) and a cycloidal disk (52) mounted integrally with the cam (51) such that rotation of the cam (51) about the longitudinal axis (L) causes the cycloidal disk (52) to rotate according to the eccentric and cycloidal motion; and - a transmission member (60) adapted to transmit the angular motion of the cycloidal disk (52) to the output shaft (20).

Description

Technical Field

[0001] This invention relates to the field of apparatus for winding and / or unwinding lines. Background Technology

[0002] Devices for winding and / or unwinding circuits are used in many industrial applications. In particular, the circuit may need to be unwound between two elements that have relative positions to each other, and these relative positions can change over time.

[0003] For example, the first component can be a support fixed to the ground, the frame of a robot, etc., and the second component can be a trolley or mobile gantry on the ground, the arm of a robot, etc. The second component can move a distance of approximately ten meters to more than one kilometer relative to the first component.

[0004] Lines are suitable for transmitting fluid, energy, and / or signals between two components. Therefore, lines can be cables, air or fluid conduits, optical fibers or fiber bundles, etc. Lines are wound around a winding support such as a winding reel.

[0005] The winding / unwinding device mounted on the first or second element is suitable for winding and / or unwinding lines on a spool. Thus, the lines extend between the spool located on the first side of the winding / unwinding device and a rotary joint opposite the first side of the device.

[0006] The wire winding / unwinding device can be motorized and winds and / or unwinds the wire in a manner synchronized with the movement of the second element. Thus, when the second element approaches the first element, the device winds the wire onto the spool to reduce its length by the same amount, while when the second element moves away from the first element, the device unwinds a longer portion of the wire.

[0007] Document FR2335754 describes a wiring winding / unwinding device including a spiral bevel gearbox. The gearbox includes multiple small bevel gears, each connected to a motor connector assembly and meshing on the same bevel gear. This device allows multiple motor connector assemblies to be mounted on a shared spiral bevel gearbox. Therefore, the torque can be adjusted according to the application under consideration, and a larger number of motor connector assemblies can be produced, which easily reduces production costs.

[0008] However, when seeking significant reductions, spiral bevel gearboxes lack compactness. Furthermore, they cannot satisfactorily withstand brief and / or large jolts. In fact, only a small number of teeth among the gearbox components are in contact with each other.

[0009] Other known devices for winding / unwinding lines include asynchronous motors directly connected to the reel via a gearbox. However, asynchronous motors offer only low precision in torque control. There can be a difference of approximately 15% between the setpoint torque and the torque actually supplied to the output shaft by the asynchronous motor. In reality, in an asynchronous motor, the rotor does not rotate at the same speed as the magnetic field. This results in slippage and rotor magnetization due to the motor current, leading to a loss of speed at the motor output and inaccuracy in the current / torque relationship. Consequently, a portion of the current input to the asynchronous motor is lost and not used to generate torque. Therefore, the difference between the setpoint torque and the torque actually supplied to the output shaft is significant, complicating the control of the winding / unwinding device. Thus, asynchronous motors are not entirely satisfactory when high-precision torque control is required.

[0010] Furthermore, asynchronous motors are not allowed to experience over-torque over short periods of time and at the same high values ​​as synchronous motors. This can cause problems during emergency stops or in situations where the reel needs to be braked and started in the opposite direction in a very short time, such as when the winding machine must pass over its supply point.

[0011] Finally, these asynchronous motor winding / unwinding devices do not allow for satisfactory modularity. In fact, these devices require electronic regulation because they are controlled by frequency converters and control programs that adjust the torque setpoint according to the operating phase of the device. However, controlling multiple asynchronous motors with a single frequency converter would result in undesirable results regarding the torque obtained relative to the setpoint. Therefore, when good accuracy of torque control is required, such electronically regulated asynchronous motor devices for winding and / or unwinding cannot include multiple asynchronous motors.

[0012] Therefore, the power of the asynchronous motor must be modified for each application to suit the customer's needs. Consequently, the size design of the asynchronous motor driving the device is complex to suit a wide variety of applications, particularly different types of lines, installation heights, winding / unwinding device speeds and accelerations, etc. Torque may not always be adapted to application-specific requirements, and the number of common components in these devices for winding / unwinding lines is limited, increasing the cost of the device. Furthermore, it is often necessary to purchase a specific motor for a given application, which further increases costs and reduces the number of applications that can be used.

[0013] Documents FR2607333A1 and FR2899399A1 describe devices for winding / unwinding lines, including magnetic couplings with hysteresis. These devices do not require electronic adjustment and can be modular. In practice, adjustment is performed by adapting the speed of the magnetic coupling to the speed of the spool, thereby providing pure torque on the line and thus providing a slightly constant traction force.

[0014] However, the magnetic coupling devices used for winding / unwinding have a low full capacity, making it impossible to manage transient phenomena such as emergency stops or passing through supply points. Furthermore, these devices become ineffective once a certain power is exceeded because it is difficult to assemble too many couplings on the same gearbox, the latter becoming very large, and increasing the size of the couplings is expensive. Summary of the Invention

[0015] The purpose of this invention is to provide a compact device for winding / unwinding circuits with a large deceleration range.

[0016] Another object of the present invention is to provide a device for winding / unwinding lines with good torque control accuracy and allowing high over-torque to be generated in a short time.

[0017] Another object of the present invention is to provide a modular device for winding / unwinding lines so that the torque is suitable for the desired application while still maintaining low production costs.

[0018] Another object of the present invention is to provide an apparatus for winding / unwinding circuitry that can protect the circuitry to be wound / unwinded.

[0019] According to a first aspect, the present invention relates to an apparatus for winding / unwinding wires, comprising:

[0020] - Input shaft, which can rotate and move about the longitudinal axis.

[0021] - The output shaft, which is generally coaxial with the input shaft, is a hollow shaft arranged to allow the line to pass through the reel and the rotary joint. The output shaft is suitable for driving the reel to rotate about its longitudinal axis.

[0022] - At least one permanent magnet synchronous motor, comprising a rotor arranged around a first portion of an output shaft, the rotor rotating integrally with the input shaft.

[0023] - A cycloidal reducer, arranged around a second portion of an output shaft, includes at least one inner cam, an outer crown, and at least one cycloidal disk disposed between each cam and the crown, wherein each cam is mounted to rotate integrally with the input shaft, the at least one cycloidal disk is mounted to rotate integrally with each cam, and wherein each cam is eccentric such that rotation of each cam about a longitudinal axis drives at least one cycloidal disk to rotate with an eccentric and cycloidal motion.

[0024] - A transmission component adapted to transmit the angular displacement of at least one cycloidal disk to an output shaft such that the eccentric rotation of the at least one cycloidal disk and the cycloidal drive the output shaft to rotate about a longitudinal axis.

[0025] Some preferred, but non-limiting, features of the winding / unwinding device described above are as follows, individually or in combination:

[0026] - The input shaft is arranged around at least a portion of the output shaft;

[0027] -The winding / unwinding device further includes a housing in which at least one synchronous motor and a cycloidal reducer are arranged, and the output shaft passes through the housing from one end to the other.

[0028] -The winding / unwinding device includes one to four synchronous motors mounted in series along the first part of the output shaft;

[0029] -At least one synchronous motor is an axial flux permanent magnet synchronous motor;

[0030] - At least one cam and input shaft are formed from a single piece, each cam including an outer surface with a radial dimension that varies depending on the angular position about the longitudinal axis when each cam is mounted in the winding / unwinding device;

[0031] -At least one cycloidal disc is a cycloidal wheel;

[0032] - The transmission member includes a first portion and a second generally radial portion adapted to connect the first portion to the output shaft. The transmission member is arranged such that the rotation of at least one cycloidal disc, which is eccentric and the rotation of the cycloidal disc drives the first portion of the transmission member to rotate about a longitudinal axis.

[0033] - At least one cycloidal disk includes at least one longitudinal hole, and a first portion of the transmission member forms at least one longitudinal finger adapted to extend in at least one longitudinal hole of at least one cycloidal disk to transmit angular displacement of at least one cycloidal disk to the first portion of the transmission member;

[0034] - The cycloidal reducer includes two substantially identical cycloidal discs mounted in series along a longitudinal axis. The two cycloidal discs are placed in the cycloidal reducer with opposite eccentricities. Each cycloidal disc includes at least one longitudinal hole. The longitudinal holes of the two cycloidal discs are arranged to face each other to form at least one pair of longitudinal holes when the cycloidal discs are mounted in a winding / unwinding device. At least one finger of the transmission member extends in at least one pair of longitudinal holes of the two cycloidal discs.

[0035] - The winding / unwinding device includes a first cycloidal disk and a second cycloidal disk, the first cycloidal disk being mounted to rotate integrally with at least one cam, and the second cycloidal disk being mounted to rotate integrally with the first cycloidal disk, wherein a first portion of the transmission member includes internal gear teeth arranged outside the second cycloidal disk and adapted to engage with external cycloidal gear teeth of the second cycloidal disk, such that eccentric rotation of the second cycloidal disk drives the first portion of the transmission member to rotate about a longitudinal axis;

[0036] - The first part of the transmission component includes a rigid frame and a generally cylindrical shaft assembly. The rigid frame includes generally cylindrical hole assemblies distributed circumferentially around a longitudinal axis, wherein each shaft of the shaft assembly is inserted into a corresponding hole in the hole assembly of the frame of the first part of the transmission component to form an internal gear tooth of the first part of the transmission component.

[0037] According to a second aspect, the present invention relates to a winding device for a circuit, the winding device comprising a spool, a winding / unwinding device according to a first aspect, a rotary joint, and a control device, wherein the control device is adapted to control a set point and / or control a synchronous motor to provide suitable winding / unwinding torque by means of the control device and the winding / unwinding device. Attached Figure Description

[0038] Other features, objects, and advantages of the invention will become apparent when reading the following detailed description, given as a non-limiting example, which will be illustrated by the following drawings:

[0039] Figure 1 A schematic side view of a winding / unwinding device according to an embodiment of the present invention is shown.

[0040] Figure 2a and Figure 2b A schematic perspective view of a winding / unwinding device according to an embodiment of the present invention is shown as a partial cross-section.

[0041] Figure 3 A schematic side view of a winding / unwinding device according to an embodiment of the present invention is shown.

[0042] Figure 4 A schematic side view of a winding / unwinding device according to an embodiment of the present invention is shown.

[0043] Figure 5a and Figure 5b A schematic perspective view of a winding / unwinding device according to an embodiment of the present invention is shown as a partial cross-section. Detailed Implementation

[0044] An apparatus for winding / unwinding wire, comprising:

[0045] - Input shaft 10, which is capable of rotating about the longitudinal axis L.

[0046] - Output shaft 20, which is substantially coaxial with input shaft 10, is a hollow through shaft arranged to allow the line to pass between the reel and the rotary joint. Output shaft 20 is adapted to drive the reel to rotate about longitudinal axis L.

[0047] In the remainder of this application, the term longitudinal axis L refers to the axis around which the input shaft 10 and the output shaft 20 are arranged. The radial direction is the direction perpendicular to and passing through the longitudinal axis L. A longitudinal element is an element that extends primarily in the direction of the longitudinal axis L. A radial element is an element that extends primarily in the radial direction.

[0048] The terms inside and outside are used in relation to the radial direction, so that a portion or inner surface of an element is closer to the longitudinal axis L than a portion or outer surface of the same element.

[0049] The terms upstream and downstream are used with respect to their positions on the longitudinal axis L, respectively. The rotary joint is located upstream of the winding / unwinding device, and the reel is located downstream of the winding / unwinding device.

[0050] The term "line" is used to refer to different types of lines, such as cables, data cables, air or fluid conduits, etc.

[0051] The wiring is designed to be arranged between the reel and the rotary joint, and to wind and / or unwind around the reel. The rotary joint allows a connection to be formed between the reel, which is driven to rotate by the output shaft 20, and the surrounding environment of the winding / unwinding device, which does not rotate around the longitudinal axis L. The rotary joint is mounted on the output shaft 20 and is integral with the output shaft 20, which rotates around the longitudinal axis, such that the rotary joint is driven by the output shaft 20 at the same rotational speed as the output shaft 20.

[0052] For example, in the case of transmitting power via bias voltage through the lines, the rotary joint can be constructed from a ring system made of a highly conductive alloy, onto which a sintered brush with a high content of conductive material is applied, ensuring continuity. Lines from the reel are connected to the rings. Lines from the stationary section are connected to the brush.

[0053] The spool is wound around a rotation drive circuit along a first direction, and unwound along a rotation drive circuit in a second direction opposite to the first direction. The winding / unwinding device can operate in both the first and second rotation directions. Therefore, the length of the circuit can be adjusted by biasing the rotation of the spool.

[0054] The winding / unwinding device allows the circuitry to be protected by biasing the hollow shaft. In effect, the circuitry can extend between a reel located on a first side of the winding / unwinding device and a rotary joint located on a second side of the hollow shaft opposite the first side. This protects the circuitry from potential degradation, such as due to climatic conditions, restrictive external environments, corrosion from external contact, or impacts and friction from external components. The winding / unwinding device also protects the circuitry from the influence of the internal components of the device, as the circuitry is confined within an output shaft 20 that rotates at the same speed.

[0055] The device for winding / unwinding wires also includes:

[0056] - At least one permanent magnet synchronous motor 30, which includes a rotor 31 arranged around a first portion of an output shaft 20, the rotor 31 rotating integrally with the input shaft 10.

[0057] - A cycloidal reducer 50, arranged around a second portion of an output shaft 20, includes at least one inner cam 51, an outer crown 53, and at least one cycloidal disk 52 disposed between each cam 51 and the crown 53. Each cam 51 is mounted to rotate integrally with the input shaft 10, and the cycloidal disk 52 is mounted to rotate integrally with each cam 51. Each cam 51 is eccentric, such that rotation of each cam 51 about a longitudinal axis L drives rotation of at least one cycloidal disk 52 by eccentric and cycloidal motion.

[0058] - Transmission member 60, adapted to transmit the angular displacement of at least one cycloidal disk 52 to the output shaft 20 such that the eccentric rotation of the at least one cycloidal disk 52 and the cycloidal line drives the output shaft 20 to rotate about the longitudinal axis L.

[0059] The term gearbox refers to a mechanism designed to reduce speed and increase torque, with the output shaft 20 rotating at a lower speed than the input shaft 10. Alternatively, the term gearbox can refer to any mechanism designed to change the speed and torque of the output shaft 20 relative to the input shaft 10.

[0060] Therefore, the cycloidal reducer 50 allows the speed of the output shaft 20 to be modified relative to the speed of the drive shaft by a specific ratio called the reduction ratio. Thus, the means for winding and / or unwinding the line transmits the rotation of the input shaft 10 to the output shaft 20. Therefore, the winding / unwinding means allows the spool to be driven to rotate in response to the rotation of the rotor 31 of the synchronous motor or motor 30, thereby winding / unwinding the line.

[0061] The term cycloid is used to describe a profile that generally corresponds to a cycloid, i.e., the trajectory of a point fixed to a circle that rolls without sliding on its generatrix. The described profile may deviate from the purely theoretical cycloid profile. Typically, the cycloid disk 52 may have an outer cycloid surface.

[0062] The cycloidal reducer 50 allows for large reduction ratios, such as up to approximately 1 / 120, for example, 20, 40, or 90, in a compact manner. Compared to other gearboxes such as conventional spiral bevel gearboxes, the cycloidal reducer 50 offers a lower failure probability, lower operating backlash, and higher throughput. The cycloidal reducer 50 has a larger contact ratio than conventional spiral bevel gearboxes, and therefore a larger number of teeth at contact. Consequently, the cycloidal reducer 50 can further withstand brief and / or large jolts.

[0063] The permanent magnet synchronous motor 30 (or synchronous motor 30) results in improved accuracy of torque control compared to asynchronous motors. In fact, because the magnetic field is generated by permanent magnets, the synchronous motor does not cause the rotor 31 to slip or become magnetized due to motor current. Therefore, virtually all the current input to the permanent magnet synchronous motor 30 is used to generate torque. Consequently, the difference between the setpoint torque and the actual torque supplied to the output shaft 20 is reduced. Thus, the mechanical torque is a direct reflection of the current, which facilitates and makes the control of the winding / unwinding device more precise.

[0064] Furthermore, the synchronous motor 30 allows for over-torque within a short time period and at a higher value than that of an asynchronous motor. Therefore, emergency stop phases are better managed. This also applies to phases requiring braking the reel and restarting it in the opposite direction within a very short time, which is when the winding machine must pass over its supply point. Therefore, using a synchronous motor allows for limiting the power of the motor used in the same application.

[0065] Finally, the wire winding / unwinding device allows for a high degree of modularity. In fact, multiple synchronous motors 30 can be controlled using the same frequency converter to perform electronic regulation of the winding / unwinding device. Therefore, the number of synchronous motors 30 in the winding / unwinding device can be adapted. Consequently, the size of the motors driving the device can be easily adapted to a wide variety of applications, particularly different types of wire, installation heights, winding / unwinding device speeds and accelerations, etc. Therefore, the number of common components in the wire winding / unwinding device is substantial, which reduces its cost.

[0066] For example, multiple identical or virtually identical synchronous motors 30 can be mounted in series along the output shaft 20. Therefore, the torque can be adjusted to closely approximate the customer's needs. Furthermore, this allows for the production of a large number of identical permanent magnet synchronous motors 30, which reduces their cost.

[0067] Synchronous motor 30 is positioned upstream of cycloidal reducer 50. Input shaft 10 and output shaft 20 extend generally along longitudinal axis L. The winding / unwinding device may have radial symmetry about longitudinal axis L.

[0068] The input shaft 10 is a hollow shaft and may correspond to the drive shaft used for the winding / unwinding device. The input shaft 10 may be arranged around at least a portion of the output shaft 20, with the input shaft 10 located further outward than the output shaft 20. To allow the input shaft 10 to rotate at a different speed than the output shaft 20, a roller bearing may be arranged between the input shaft 10 and the output shaft 20.

[0069] The input shaft 10 may extend from the synchronous motor 30 to the cycloidal reducer 50, and in particular to at least one cam 51 of the cycloidal reducer 50. The input shaft 10 may have a first end adapted to extend from the side of the rotary joint and a second end opposite to the first end.

[0070] Input shaft 10 receives drive power to be transmitted from a synchronous motor or motor 30, which generates mechanical power to be transmitted via its rotor 31. A second end of input shaft 10 may extend radially through at least one cam 51 at the cycloidal reducer 50. Cam 51 may be located around the second end of input shaft 10, positioned further outward than the input shaft 10. Bearings may be arranged at cam 51 between input shaft 10 and output shaft 20.

[0071] At least one cam 51 and input shaft 10 can be formed as a single piece. Alternatively, cam 51 can be added to and fixed to the second end of input shaft 10.

[0072] The input shaft 10 may have means for driving the rotor 31 of the synchronous motor 30, which is arranged in the synchronous motor 30. For example, complementary grooves of the input shaft 10 and the rotor 31 may allow the input shaft 10 and the rotor 31 of the synchronous motor 30 to be rigidly attached to each other for rotation.

[0073] During the winding process, the rotation of rotor 31 is transmitted to input shaft 10, which in turn drives input shaft 10 to rotate around longitudinal axis L. Then, synchronous motor or motor 30 becomes a motor and drives the reel to rotate.

[0074] Conversely, during the winding process, the rotation of the input shaft 10 about the longitudinal axis L is transmitted to the rotor 31 of the synchronous motor or motor 30 via a device for driving the rotor 31. The synchronous motor or motor 30 then acts as a generator and brakes the winding of the reel, thereby preventing the reel from going out of control.

[0075] The output shaft 20 is a hollow through shaft. The output shaft 20 can extend substantially along the entire length of the winding / unwinding device between the rotary joint and the reel. A first portion of the output shaft 20 is arranged upstream of a second portion of the output shaft 20. Both the first and second portions of the output shaft 20 can be surrounded by the input shaft 10. Alternatively, only the first portion of the output shaft 20 can be surrounded by the input shaft 10.

[0076] The output shaft 20 may include a third portion disposed downstream of the second portion, the third portion connecting the second portion and the end of the output shaft 20 at the reel. A transmission member 60 may be disposed between the second and third portions of the output shaft 20.

[0077] The winding / unwinding device may include a housing 40, within which at least one synchronous motor 30 and a cycloidal reducer 50 are arranged. An output shaft 20 passes through the housing 40 from one end to the other. Therefore, as the cable passes between the rotary joint and the reel, it never comes into contact with the outside, remaining contained within the output shaft 20. This provides better protection for the cable against potential degradation caused by the external environment. It also protects the cable from the influence of the internal components of the winding / unwinding device.

[0078] In the case of fluid, the output shaft 20 can be used as a conduit for conveying fluid from one side of the winding / unwinding device to the other. Therefore, no additional conduit is required for conveying fluid through the winding / unwinding device.

[0079] The output shaft 20 may have a substantially constant radius along its entire length. Alternatively, the output shaft 20 may have a radius that varies depending on its position along the longitudinal axis L. For example, the first and second portions of the output shaft 20 may each have a first radius at the level of the synchronous motor 30 and the cycloidal reducer 50, respectively. The third portion of the output shaft 20 may have a second radius. The first radius may be smaller than the second radius.

[0080] The winding / unwinding device may include one to ten permanent magnet synchronous motors 30, for example, one to four synchronous motors 30. The synchronous motors 30 may be mounted in series along the first portion of the output shaft 20. Thus, the synchronous motors 30 are arranged longitudinally from upstream to downstream.

[0081] Therefore, the number of permanent magnet synchronous motors 30 is tailored to the customer's needs and the application considerations for the winding / unwinding device. In particular, a small number of synchronous motors 30, such as two synchronous motors 30 with different power ratings, allows for a power range of 1.5 to 30 kW to be covered with a suitable pitch, which is a conventional power range.

[0082] The permanent magnet synchronous motor 30 includes a rotor 31 and a stator 32. The rotor 31 includes a magnet assembly arranged generally radially around a longitudinal axis L. The stator 32 has magnets arranged generally radially facing the rotor 31.

[0083] Permanent magnets can be trapezoidal magnets, with opposite polarities between two consecutive magnets. Such trapezoidal magnets are, for example, in... Figure 2b As shown in the diagram, the windings generate alternating magnetic flux, such as axial flux, according to the frequency of the current passing through them. The facing magnet then moves to follow the rotating magnetic field, thereby enabling the generation of torque.

[0084] As a non-restrictive example, Figure 3A winding / unwinding device including a single permanent magnet synchronous motor 30 is shown. The permanent magnet is arranged on the upstream face of the rotor 31, and the stator 32 is arranged upstream of the rotor 31 such that the downstream face of the stator 32 is arranged to face the upstream face of the rotor 31.

[0085] The winding / unwinding device may include two or more synchronous motors 30. Each pair of synchronous motors 30 may then be grouped together into a motor assembly comprising a rotor 31 and a stator 32. The rotor 31 of the motor assembly includes two permanent magnet assemblies arranged on the opposite side of the rotor 31. Thus, one of the two permanent magnet assemblies is arranged on the upstream face of the rotor 31, and the other of the two permanent magnet assemblies is arranged on the downstream face of the rotor 31.

[0086] The stator 32 can be arranged on either side of the rotor 31 such that each permanent magnet assembly of the rotor 31 faces the surface of the stator 32. Advantageously, two opposite sides of the same permanent magnet can then form the rotors 31 of two adjacent motors. Alternatively, the stator 32 can be arranged between two rotors 31, with the rotors 31 arranged on either side of the stator 32, wherein each winding is used to generate the torque of two different rotors.

[0087] As a non-restrictive example, Figure 1 A winding / unwinding device comprising four permanent magnet synchronous motors 30 is shown. The four synchronous motors 30 are grouped together into two motor assemblies, each motor assembly comprising two synchronous motors 30.

[0088] At least one permanent magnet synchronous motor 30 may be an axial flux permanent magnet synchronous motor 30. Such an axial flux synchronous motor 30 has improved compactness in the longitudinal direction compared to a radial flux synchronous motor.

[0089] The cycloidal reducer 50 may include a cam 51 or multiple cams 51 mounted in series along the longitudinal axis L. Each cam 51 of the device may have substantially the same cam geometry 51.

[0090] Each cam 51 may include an inner surface and an outer surface. The cam 51 is eccentric. Therefore, at least one cam 51 may include an outer surface with a radial dimension that varies according to the angular position about the longitudinal axis L, i.e., according to the radial direction, when at least one cam 51 is mounted in the winding / unwinding device. The variation in the radial dimension of the outer surface of the cam 51 forms the eccentricity of the cam 51.

[0091] The input shaft 10 can have a generally constant radius along the longitudinal axis L. The radius of the input shaft 10 can be smaller than the radial dimension of the outer surface of the cam 51, and is independent of the angular position about the longitudinal axis L, i.e., independent of the radial direction. Therefore, the engagement between the second end of the input shaft 10 and the cam 51 forms a stepped step. The cam 51 is eccentric, and the size of the stepped step varies depending on the angular position about the longitudinal axis L.

[0092] When cam 51 is installed in the winding / unwinding device, the inner surface of cam 51 can have rotational symmetry about the longitudinal axis L. The inner surface of cam 51 can be generally circular and centered on the longitudinal axis L, and the radius of the inner surface of cam 51 generally corresponds to the radius of input shaft 10.

[0093] When cam 51 is mounted in the winding / unwinding device, the outer surface of cam 51 can have rotational symmetry about camshaft 51. Camshaft 51 is parallel to the longitudinal axis L, but not confused with the longitudinal axis L, and camshaft 51 is spaced a certain distance relative to the longitudinal axis L.

[0094] The outer surface of the cam 51 can be generally circular and centered on the camshaft 51. In other words, when the cam 51 is mounted in the winding / unwinding device, the center of the outer surface of the cam 51 is located on the camshaft 51 and therefore not on the longitudinal axis L.

[0095] The cycloidal reducer 50 may include a cycloidal disk 52 or a plurality of cycloidal disks 52 mounted in series along the longitudinal axis L. Each cycloidal disk 52 of the cycloidal reducer 50 may have substantially the same geometry, or alternatively have different geometries from one another.

[0096] The cycloidal disk 52 in the cycloidal reducer 50 can be a cycloidal wheel. The cycloidal disk 52 includes an inner surface and an outer surface. The outer surface of the cycloidal disk 52 includes exocycloidal gear teeth. The inner surface of the cycloidal disk 52 has a shape and size that substantially corresponds to the shape and size of the outer surface of the cam 51. The outer surface of the cam 51 drives the inner surface of the cycloidal disk 52 to rotate via a means for driving the cycloidal disk 52. The means for driving the cycloidal disk 52 may include a bearing, such as a needle roller bearing or a roller bearing, disposed between the cam 51 and the cycloidal disk 52. Alternatively, the means for driving the cycloidal disk 52 may include a smooth bearing disposed between the cam 51 and the cycloidal disk 52.

[0097] The cycloidal disk 52 can have rotational symmetry about its axis. When the cycloidal disk 52 is mounted in the winding / unwinding device, its axis is parallel to the longitudinal axis L, but not confused with it, and is spaced a certain distance from the longitudinal axis L. The axis of the cycloidal disk 52 can correspond to the camshaft 51. In particular, the inner surface of the cycloidal disk 52 can be substantially circular, and its radius substantially corresponds to the radius of the outer surface of the cam 51.

[0098] The cycloidal gear teeth of the cycloidal disk 52 may include circular teeth, each tooth comprising a bottom, a tooth surface, and a top. The bottom of the tooth corresponds to the innermost part of the tooth, and the top of the tooth corresponds to the outermost part of the tooth. The tooth surface connects the bottom of the tooth to the top of the tooth.

[0099] The exocycloidal gear teeth of the cycloidal disk 52 may have a generally cycloidal profile. The generatrix of the cycloidal gear teeth may generally correspond to a circle inscribed in the bottom of the cycloidal gear teeth, i.e., a circle tangent to the bottom of each tooth of the cycloidal disk. Alternatively, the exocycloidal gear teeth of the cycloidal disk 52 may include tooth offsets to strengthen the teeth and improve their service life and performance. The generatrix of the cycloidal gear is then offset relative to a generatrix without tooth offsets.

[0100] The outer gear teeth of the cycloidal disk 52 may alternatively have a profile that is far from the theoretical cycloid in order to minimize the constraints applied to the teeth and facilitate the assembly of cycloidal meshing.

[0101] The outer crown 53 of the cycloidal reducer 50 is fixed, meaning it cannot rotate or move about the longitudinal axis L. The crown 53 may be a wheel with rotational symmetry about the longitudinal axis L. The crown 53 includes internal gear teeth that mesh with the outer cycloidal gear teeth of the cycloidal disk 52.

[0102] The inner teeth of crown 53 may include circular teeth, each tooth comprising a base, a tooth surface, and a top. The base of the tooth corresponds to the outermost part of the tooth, and the top of the tooth corresponds to the innermost part of the tooth. The tooth surface connects the base of the tooth to the top of the tooth. The teeth of crown 53 may be circumferentially distributed around the longitudinal axis L, i.e., they are arranged at equal angular distances from each other.

[0103] Each tooth of the inner gear of crown 53 may have a generally cylindrical profile. The generatrix of the cylinder of revolution extends along the longitudinal axis L, and the cylinder is generally radially distributed around the longitudinal axis L. Alternatively, each tooth of the inner gear of crown 53 may have any shape suitable for tooth mating with the cycloidal gear teeth of cycloidal disk 52. For example, the teeth of crown 53 may be generally annular to improve contact with the cycloidal gear teeth of cycloidal disk 52. The annular shape of the teeth of crown 53 may be suitable for a cycloidal gearbox 50 with a low reduction ratio. Alternatively, the inner gear teeth of crown 53 may have a cycloidal shape.

[0104] Crown 53 may have a number of teeth corresponding to the number of teeth of cycloidal disk 52 plus one tooth. This offset of a single tooth allows for a larger reduction ratio. Therefore, if cycloidal disk 52 has n teeth, then crown 53 has n+1 teeth. In the contact area between cycloidal disk 52 and crown 53, at least one tip or tooth surface of a tooth of cycloidal disk 52 may contact at least one tooth surface of a tooth of crown 53. Multiple teeth of cycloidal disk 52 and / or crown 53 may contact simultaneously.

[0105] The radius of the circle tangent to the top of each tooth of the exocycloidal gear 52 can be smaller than the radius of the circle tangent to the bottom of each tooth of the inner gear 53. Therefore, the cycloidal gear 52 can rotate within the fixed crown 53 by following the eccentric cycloidal motion.

[0106] In a first embodiment, the fixed crown 53 includes a rigid frame and a shaft assembly. The rigid frame includes a hole assembly circumferentially distributed around a longitudinal axis L. Each shaft of the shaft assembly is inserted into a corresponding hole in the hole assembly of the frame of the crown 53 to form the internal gear teeth of the crown 53. This configuration of the rigid frame and the set of independent shafts rigidly assembled in the frame allows for a high reduction ratio. Each shaft of the shaft assembly may be generally cylindrical, and each hole in the frame of the crown 53 may be generally cylindrical, thereby producing teeth with a generally cylindrical profile. Alternatively, each shaft and each hole may be generally annular, or have any shape suitable for ensuring engagement with the teeth of the cycloidal disk 52.

[0107] In the second embodiment, the crown 53 is formed from a single piece and includes protrusions adapted to form the teeth of the crown 53. The protrusions may be generally cylindrical, annular, or any other shape that allows them to obtain satisfactory contact with the cycloidal gear teeth of the cycloidal disk 52.

[0108] The transmission member 60 is rotatable about a longitudinal axis L. The transmission member 60 may include a first portion 61 and a second portion 62. The second portion 62 of the transmission member 60 may be generally radial and adapted to connect the first portion 61 to the output shaft 20. The transmission member 60 may be arranged such that the eccentricity of at least one cycloidal disk 52 and the rotation of the cycloidal line drive the first portion 61 of the transmission member 60 to rotate about the longitudinal axis L. Therefore, the eccentricity of the cycloidal disk 52 and the rotation of the cycloidal line are converted into rotation about the longitudinal axis L through the engagement between the cycloidal disk 52 and the first portion 61 of the transmission member 60.

[0109] The first part 61 of the transmission member 60 can be formed as a single piece with the second part 62 of the transmission member 60. The transmission member 60 can be formed as a single piece with the output shaft 20.

[0110] The outer surface of the crown 53 can be mounted flush with the outer surface of the housing 40, and / or flush with the outer surface of the stator 32, and / or flush with the outer surface of the first portion 61 of the transmission member 60. Therefore, the outer surface of the assembly consisting of the synchronous motor 30, the cycloidal reducer 50 and the housing 40 can be substantially flat.

[0111] In the first implementation scheme, such as Figure 4 , Figure 5a and Figure 5b As shown by way of non-limiting example, the cycloidal reducer 50 has a single-stage architecture or a single-row architecture.

[0112] At least one cycloidal disk 52 then includes at least one longitudinal hole. A first portion 61 of the transmission member 60 forms at least one longitudinal finger adapted to extend in at least one longitudinal hole of the at least one cycloidal disk 52 to transmit angular displacement of the at least one cycloidal disk 52 to the first portion 61 of the transmission member 60.

[0113] The first embodiment has the advantage of requiring only a single cycloidal disc 52 profile to convert the eccentric motion of the cycloidal disc 52 into the circular motion of the first portion 61 of the transmission member 60. Therefore, the size of a single cycloidal wheel is designed for the cycloidal reducer 50.

[0114] The longitudinal finger extends longitudinally and protrudes from the second radial portion 62 of the transmission member 60. The longitudinal finger may be generally cylindrical.

[0115] The longitudinal hole may extend through the cycloidal disk 52, or alternatively may not, and then the longitudinal hole extends only in the downstream portion of the cycloidal disk 52.

[0116] The longitudinal bore can be generally cylindrical and has a larger dimension than the longitudinal fingers. Therefore, during the rotation of the cycloidal disk 52, the longitudinal bore of the cycloidal disk 52 rotates both around the longitudinal fingers and around the longitudinal axis L to drive the longitudinal fingers to rotate around the longitudinal axis L. In other words, the size of the longitudinal bore of at least one cycloidal disk 52 is such that it can absorb the radial motion component of the cycloidal disk 52 that causes the cycloidal disk 52 to rotate eccentrically, while still transmitting the rotational component around the longitudinal axis L.

[0117] More specifically, the cycloidal disk 52 may include a plurality of longitudinal holes circumferentially distributed around the longitudinal axis L, and the first portion 61 of the transmission member 60 forms a plurality of longitudinal fingers circumferentially distributed around the longitudinal axis L. Each longitudinal finger is adapted to extend into a corresponding hole in the cycloidal disk 52. Therefore, the mechanical resistance of the assembly is increased, the cycloidal reducer 50 can withstand greater impacts and pressures, and the reduction ratio can be increased.

[0118] In a first embodiment, the cycloidal reducer 50 may include one or more cycloidal discs 52 mounted in series along a second portion of the output shaft 20. For example, as Figure 4 , Figure 5a and Figure 5b As shown, the cycloidal reducer 50 may include two generally identical cycloidal discs 523, 524 and are mounted in series along the longitudinal axis L, particularly along the second part of the output shaft 20.

[0119] Two cycloidal disks 523 and 524 are placed in the cycloidal reducer 50 with opposite eccentricities. In other words, the two cycloidal disks 523 and 524 are placed at approximately opposite angular phases, such that the bottom of the cycloidal teeth of the first cycloidal disk 523 is offset relative to the bottom of the cycloidal teeth of the second cycloidal disk 524, and vice versa. The eccentric position of the second cycloidal disk 524 can be approximately 180° to the eccentric position of the first cycloidal disk 523.

[0120] This configuration, featuring two cycloidal disks 523 and 524 arranged with opposite eccentricities, allows for the balancing of imbalances by rotating the two cycloidal wheels in opposite directions. Furthermore, this configuration allows for the distribution of contact pressure across different elements and limits the contact pressure on each tooth of the cycloidal disks 523 and 524, with pressure distributed across a plurality of teeth proportional to the number of cycloidal disks. Moreover, by advantageously selecting a reduction ratio, particularly an odd reduction ratio, the two cycloidal disks 523 and 524 are identical. Therefore, identical components are manufactured twice. This results in a reduction in production costs. Furthermore, this solution is virtually unlimited in terms of minimizing material reduction, for example, below 20%.

[0121] On the other hand, the reversibility of this architecture is limited because the cycloidal discs 523 and 524 restarting their eccentric motion with the opposite eccentricity to return to circular motion generates friction at the fingers, which perform the eccentric motion by rolling in a larger diameter hole. Therefore, reversibility depends heavily on the contact quality of these fingers.

[0122] The two cycloidal disks 523 and 524 can be identical and mesh with a common crown 53, and / or be mounted to rotate integrally with a common cam 51. When the wheels of the cycloidal disks 523 and 524 each have n teeth and the crown 53 has n+1 teeth, the reduction ratio is then directly equal to the number of teeth on the wheels of the cycloidal disks 523 and 524.

[0123] Alternatively, each of the two cycloidal disks 523, 524 can be mounted on a corresponding fixed crown 53, the two crowns 53 being arranged in series along the longitudinal axis L. Alternatively or further, each of the two cycloidal disks 523, 524 can be mounted to rotate integrally with a corresponding cam 51, the two cams 51 being arranged in series along the longitudinal axis L.

[0124] Each cycloidal disk 523, 524 includes at least one longitudinal hole. The longitudinal holes of the two cycloidal disks 523, 524 are arranged facing each other to form at least one pair of longitudinal holes when the cycloidal disks 523, 524 are mounted in the winding / unwinding device. At least one finger of the transmission member 60 extends in at least one pair of longitudinal holes of the two cycloidal disks 523, 524.

[0125] When the two cycloidal discs 523 and 524 include a plurality of longitudinal holes circumferentially distributed around the longitudinal axis L, the longitudinal holes form multiple pairs of longitudinal holes circumferentially distributed around the longitudinal axis L. Each of the plurality of longitudinal fingers of the first portion 61 of the transmission member 60 extends in a corresponding pair of longitudinal holes.

[0126] The two cycloidal disks 523 and 524 are integrated with each other so that they rotate at the same speed around the longitudinal axis L.

[0127] In a first embodiment, the cycloidal reducer 50 may include more than two cycloidal discs 52 mounted in series along a second portion of the output shaft 20. A larger number of cycloidal discs 52 makes it possible to limit the contact pressure on each tooth of the cycloidal discs 52, wherein the pressure is distributed across a plurality of teeth proportional to the number of cycloidal discs.

[0128] In the second implementation scheme, such as Figure 1 , Figure 2a and Figure 2b as well as Figure 3 As shown by way of non-limiting example, the cycloidal reducer 50 includes a two-stage or two-row architecture. The cycloidal reducer 50 then includes two cycloidal discs 521, 522 with different profiles mounted in series along the longitudinal axis L.

[0129] The cycloidal reducer 50 includes a first cycloidal disk 521 and a second cycloidal disk 522. The first cycloidal disk 521 is mounted to rotate integrally with at least one cam 51. The second cycloidal disk 522 is mounted to rotate integrally with the first cycloidal disk 521.

[0130] The first part 61 of the transmission member 60 may include an inner gear tooth, which is arranged outside the second cycloidal disk 522 and adapted to engage with the outer cycloidal gear tooth of the second cycloidal disk 522 so that the eccentric rotation of the second cycloidal disk 522 drives the first part 61 of the transmission member 60 to rotate about the longitudinal axis L.

[0131] The first cycloidal disk 521 meshes with the inner gear teeth of the fixed crown 53 in a manner similar to that described above with reference to at least one cycloidal disk 52 of the cycloidal reducer 50. If the first cycloidal disk 521 has n teeth, the crown 53 may advantageously have n+1 teeth.

[0132] The eccentric rotation of the first cycloidal disk 521 drives a corresponding eccentric rotation of the second cycloidal disk 522. The second cycloidal disk 522 meshes with the inner gear teeth of the first portion 61 of the transmission member 60. The inner gear teeth of the first portion 61 of the transmission member 60 engage with the outer cycloidal gear teeth of the second cycloidal disk 522 to transmit the angular displacement of the second cycloidal disk 522 to the first portion 61 of the transmission member 60. Therefore, the first portion 61 of the transmission member 60 moves outside the second cycloidal disk 522 to transmit the displacement to the output shaft 20 of the winding / unwinding device. The first portion 61 of the transmission member 60 is guided to rotate by the bias of the output shaft 20 and is thus constrained to rotate at an angular offset about the longitudinal axis L.

[0133] The second implementation scheme has the advantage of not requiring a finger to convert the eccentric motion of the cycloidal line into circular motion. Therefore, the reversibility of the component is improved.

[0134] The first portion 61 of the transmission member 60 may be a wheel with rotational symmetry about the longitudinal axis L. The first portion 61 of the transmission member 60 includes internal gear teeth that mesh with the outer cycloidal gear teeth of the second cycloidal disk 522. The geometry of the first portion 61 of the transmission member 60 may be similar to the geometry of the crown 53.

[0135] The inner gear teeth of the first portion 61 of the transmission member 60 may include circular teeth, each tooth comprising a bottom, a tooth surface, and a top. The bottom of the tooth corresponds to the outermost part of the tooth, and the top of the tooth corresponds to the innermost part of the tooth. The tooth surface connects the bottom of the tooth to the top of the tooth. The teeth of the first portion 61 of the transmission member 60 may be circumferentially distributed around the longitudinal axis L, that is, they are arranged at equal angular distances from each other.

[0136] Each tooth of the inner gear teeth of the first portion 61 of the transmission member 60 may have a generally cylindrical profile. The generatrix of the rotating cylinder extends generally along the longitudinal axis L, wherein the cylinders forming the teeth are generally radially distributed around the longitudinal axis L. Alternatively, each tooth of the inner gear teeth of the first portion 61 of the transmission member 60 may have any shape suitable for tooth engagement with the cycloidal gear teeth of the second cycloidal disk 522. For example, the teeth of the first portion 61 of the transmission member 60 may be generally annular to improve contact with the cycloidal gear teeth of the second cycloidal disk 522. Thus, contact is formed at the center of the tooth and extends from the center of the tooth throughout the life of the transmission.

[0137] The first portion 61 of the transmission member 60 may have a number of teeth corresponding to the number of teeth of the second cycloidal disk 522 plus one tooth. This offset of a single tooth allows for a larger reduction ratio. Therefore, if the second cycloidal disk 522 has N teeth, then the first portion 61 of the transmission member 60 has N+1 teeth.

[0138] In the contact area between the second cycloidal disk 522 and the first portion 61 of the transmission member 60, the top or tooth surface of the teeth of the second cycloidal disk 522 contacts at least one tooth surface of the teeth of the first portion 61 of the transmission member 60. Multiple teeth of the second cycloidal disk 522 and / or the first portion 61 of the transmission member 60 may contact simultaneously. The rotation of the second cycloidal disk 522 in the first portion 61 of the transmission member 60 is reacted by the bias of the tooth-to-tooth contact, thus causing the first portion 61 of the transmission member 60 to rotate about the longitudinal axis L.

[0139] In a first embodiment, the first portion 61 of the transmission member 60 includes a rigid frame and shaft assemblies. The rigid frame includes hole assemblies circumferentially distributed around a longitudinal axis L. Each shaft of the shaft assembly is inserted into a corresponding hole in the hole assembly of the frame of the first portion 61 of the transmission member 60 to form gear teeth of the first portion 61 of the transmission member 60. This configuration of the rigid frame and the individual shaft assemblies rigidly assembled in the frame allows for a high reduction ratio. Each shaft of the shaft assembly may be generally cylindrical, and each hole in the frame of the first portion 61 of the transmission member 60 may be generally cylindrical to produce teeth with a generally cylindrical profile, generally annular teeth, or any shape of teeth suitable for ensuring engagement with the teeth of the second cycloidal disk 522.

[0140] In the second embodiment, the first portion 61 of the transmission member 60 is formed from a single piece and includes protrusions adapted to form the teeth of the first portion 61 of the transmission member 60. The protrusions may be generally cylindrical, annular, or any other shape that allows them to obtain satisfactory contact with the cycloidal gear teeth of the second cycloidal disk 522.

[0141] The reduction ratio of the two-stage cycloidal reducer 50 can be expressed as: or The first cycloidal disk 521 has n teeth, the crown 53 has n+1 teeth, the second cycloidal disk 522 has N teeth, and the first part 61 of the transmission component 60 has N+1 teeth. For example, for N=8 and n=10, the reduction ratio of the cycloidal reducer is R=45.

[0142] The winding / unwinding device can be integrated into the wire winder. The wire winder includes a spool, such as the winding / unwinding device described above, a rotary joint, and a control device. An output shaft 20 is arranged to allow the wire to pass between the spool and the rotary joint, and the output shaft 20 is adapted to drive the spool to rotate about a longitudinal axis L.

[0143] The control device is suitable for controlling the set point and / or controlling the synchronous motor or motor 30 so that the control device and the winding / unwinding device provide suitable winding / unwinding torque.

[0144] The winding / unwinding torque can be varied according to the winding level of the line. In practice, the winding radius varies depending on the amount of line wound on the spool, for example, during the displacement of the two elements between which the line unwinds. Therefore, the control device and the winding / unwinding device can be adapted to provide a winding / unwinding torque adjusted according to the winding level of the line.

[0145] Furthermore, the winding / unwinding torque can be varied according to the operating stage of the winder. This stage can be characterized by parameters such as velocity, acceleration, or a defined speed in a first or second rotational direction. Therefore, the control device and the winding / unwinding device can be adapted to provide a winding / unwinding torque adjusted according to the operating stage of the winder.

[0146] Alternatively or additionally, the control device and winding / unwinding device can therefore be adapted to provide a predetermined winding / unwinding torque.

[0147] Alternatively or additionally, the control device and winding / unwinding device can therefore be adapted to provide winding / unwinding torque adjusted based on measurements of the winding and / or unwinding effect of the line. The torque adjustment is then controlled and executed in a closed loop.

Claims

1. An apparatus for winding / unwinding wire, comprising: - Input shaft (10), which is capable of rotating and moving about the longitudinal axis (L), - Output shaft (20), which is generally coaxial with input shaft (10), output shaft (20) is a hollow through shaft arranged for passing the line through a reel located on a first side of the device and a rotary joint located on a second side of the device opposite to the first side, the rotary joint being integral with output shaft (20) and rotating about a longitudinal axis (L), output shaft (20) being adapted to drive the reel to rotate about the longitudinal axis (L), - At least one permanent magnet synchronous motor (30) comprising a rotor (31) arranged around a first portion of an output shaft (20), the rotor (31) rotating integrally with the input shaft (10). - A cycloidal reducer (50), arranged around a second portion of an output shaft (20), the cycloidal reducer (50) including at least one inner cam (51), an outer crown (53), and at least one cycloidal disk (52) arranged between each cam (51) and the crown (53), wherein each cam (51) is mounted to rotate integrally with the input shaft (10), at least one cycloidal disk (52) is mounted to rotate integrally with each cam (51), and wherein each cam (51) is eccentric such that rotation of each cam (51) about a longitudinal axis (L) drives at least one cycloidal disk (52) to rotate in an eccentric and cycloidal motion, and - A transmission component (60) adapted to transmit the angular displacement of at least one cycloidal disk (52) to an output shaft (20) such that the eccentric rotation of at least one cycloidal disk (52) drives the output shaft (20) to rotate about a longitudinal axis (L). During the winding process, at least one permanent magnet synchronous motor acts as a motor and drives the reel to rotate; during the unwinding process, at least one permanent magnet synchronous motor acts as a generator and brakes the unwinding of the reel, thereby preventing the reel from going out of control.

2. The apparatus for winding / unwinding wires according to claim 1, wherein, The input shaft (10) is arranged around at least a portion of the output shaft (20).

3. The apparatus for winding / unwinding wire according to claim 1 or 2, further comprising a housing (40) wherein at least one synchronous motor (30) and a cycloidal reducer (50) are arranged, and wherein an output shaft (20) passes through the housing (40) from one end to the other.

4. The apparatus for winding / unwinding lines according to claim 1, comprising one to four synchronous motors (30) mounted in series along a first portion of the output shaft (20).

5. The apparatus for winding / unwinding wires according to claim 1, wherein, At least one synchronous motor (30) is an axial flux permanent magnet synchronous motor.

6. The apparatus for winding / unwinding wires according to claim 1, wherein, At least one cam (51) and input shaft (10) are formed from a single piece, and each cam (51) includes an outer surface with a radial dimension that varies according to the angular position about the longitudinal axis (L) when each cam (51) is mounted in the winding / unwinding device.

7. The apparatus for winding / unwinding wires according to claim 1, wherein, The transmission member (60) includes a first portion (61) and a second generally radial portion (62) adapted to connect the first portion (61) to the output shaft (20). The transmission member (60) is arranged such that the eccentricity of at least one cycloidal disc (52) and the rotation of the cycloidal disc drive the first portion (61) of the transmission member (60) to rotate about the longitudinal axis (L).

8. The apparatus for winding / unwinding wires according to claim 7, wherein, At least one cycloidal disk (52) includes at least one longitudinal hole, and wherein a first portion (61) of the transmission member (60) forms at least one longitudinal finger adapted to extend in at least one longitudinal hole of at least one cycloidal disk (52) to transmit angular displacement of at least one cycloidal disk (52) to the first portion (61) of the transmission member (60).

9. The apparatus for winding / unwinding wires according to claim 8, wherein, The cycloidal reducer (50) comprises two substantially identical cycloidal discs (523, 524) mounted in series along a longitudinal axis (L). The two cycloidal discs (523, 524) are placed in the cycloidal reducer (50) with opposite eccentricities. Each cycloidal disc (523, 524) includes at least one longitudinal hole. The longitudinal holes of the two cycloidal discs (523, 524) are arranged to face each other to form at least one pair of longitudinal holes when the cycloidal discs (523, 524) are mounted in the winding / unwinding device. At least one finger of the transmission member (60) extends in at least one pair of longitudinal holes of the two cycloidal discs (523, 524).

10. The apparatus for winding / unwinding wires according to claim 7, wherein, The cycloidal reducer (50) includes a first cycloidal disk (521) and a second cycloidal disk (522), the first cycloidal disk (521) being mounted to rotate integrally with at least one cam (51), and the second cycloidal disk (522) being mounted to rotate integrally with the first cycloidal disk (521), wherein the first portion (61) of the transmission member (60) includes an inner gear tooth arranged outside the second cycloidal disk (522) and adapted to engage with the outer cycloidal gear tooth of the second cycloidal disk (522) so that the eccentric rotation of the second cycloidal disk (522) drives the first portion (61) of the transmission member (60) to rotate about a longitudinal axis (L).

11. The apparatus for winding / unwinding wires according to claim 10, wherein, The first part (61) of the transmission member (60) includes a rigid frame and a generally cylindrical shaft assembly. The rigid frame includes generally cylindrical hole assemblies distributed circumferentially around a longitudinal axis (L), wherein each shaft of the shaft assembly is inserted into a corresponding hole in the hole assembly of the frame of the first part (61) of the transmission member (60) to form an inner gear tooth of the first part (61) of the transmission member (60).

12. A winding device for a line, the winding device comprising a spool, a winding / unwinding device according to any one of claims 1 to 11, a rotary joint, and a control device, wherein the control device is adapted to control a synchronous motor (30) to provide a suitable winding / unwinding torque for the control device and the winding / unwinding device.

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