Link winding / unwinding device

Abstract

The present invention describes a device for winding / unwinding links, comprising an input shaft (10) and a hollow, penetrating output shaft (20) that are coaxial and movable in rotation about a longitudinal axis (L), a permanent magnet synchronous motor (30) comprising a rotor (31) that is integral in rotation with the input shaft (10), a cycloidal reducing joint (50) comprising an eccentric cam (51) that is integrally mounted in rotation with the input shaft (10) and a cycloidal disc (52) that is integrally mounted in rotation with the cam (51) in such a way that rotation of the cam (51) about the longitudinal axis (L) drives rotation of the cycloidal disc (52) in an eccentric cycloidal motion, and a transmission member (60) suitable for transmitting the angular displacement of the cycloidal disc (52) to the output shaft (20).

Description

[Technical Field]

[0001] The present invention relates to the field of devices for winding and / or unwinding links. [Background technology]

[0002] Devices for winding and / or unwinding links are used in many industrial applications. In particular, the link must be deployed between two elements that have a relative position with respect to each other, and this relative position can change over time.

[0003] For example, the first element can be a support fixed to the ground, a robot frame, etc., and the second element can be a carriage or traveling gantry above the ground, a robot arm, etc. The second element can be moved relative to the first element by a distance of about 10 meters to more than 1 kilometer.

[0004] The link is configured to transmit fluid, energy and / or signals between two elements. Thus, the link can be an electrical cable, an air or fluid pipe, an optical fiber or optical fiber bundle, etc. The link is wound on a winding support, such as a winding reel.

[0005] A winding / unwinding device attached to the first element or the second element is adapted to wind and / or unwind the link on the reel, such that the link extends between the reel located on a first side of the winding / unwinding device and the rotary joint on an opposite side of the device from the first side.

[0006] The link winding / unwinding device can be motor-driven and can wind and / or unwind the link in synchronization with the displacement of the second element, such that the device winds the link onto the reel as the second element moves closer to the first element to shorten its length as much as possible, and unwinds a longer length of the link as the second element moves away from the first element.

[0007] Patent Document 1 describes a link winding / unwinding device that includes a helical bevel gearbox. The gearbox includes several bevel pinions, each of which is connected to a motor coupler set and meshes with the same bevel wheel. Such a device allows several motor coupler sets to be attached to a common helical bevel gearbox. This allows the torque to be adapted according to the intended application, and motor coupler sets can be produced in greater numbers, which tends to reduce manufacturing costs.

[0008] However, helical bevel gearboxes lack compactness when substantial reduction is required. Furthermore, they cannot satisfactorily withstand short and / or substantial jolts. In practice, only a small number of the teeth of the gearbox elements are in contact with each other.

[0009] Other known devices for winding / unwinding links include asynchronous motors connected directly to the reel through 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 delivered to the output shaft by an asynchronous motor. In practice, in an asynchronous motor, the rotor does not rotate at the same speed as the magnetic field. This causes rotor slip and magnetization due to the motor current, resulting in a loss of rotational speed at the motor's output and an inaccurate current / torque relationship. As a result, 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 delivered to the output shaft is substantial, which complicates the control of the winding / unwinding device. Therefore, when high precision in torque control is required, asynchronous motors are not entirely satisfactory.

[0010] In addition, asynchronous motors do not tolerate over-torque at as high values ​​as synchronous motors for short periods of time, which can cause problems when generating emergency stop phases or phases that require the reel to be braked and launched in the reverse direction for a very short time, when the winder has to go beyond its feed point.

[0011] Finally, these asynchronous motor winding / unwinding devices do not allow for satisfactory modularity. In fact, they require electronic regulation because they are controlled by a frequency variator and a control program that modulates the torque setpoint according to the device's operating phase. However, controlling several asynchronous motors with a single frequency variator leads to unsatisfactory results in terms of the torque obtained relative to the setpoint. Consequently, such electronically regulated asynchronous motor devices for winding and / or unwinding cannot include several asynchronous motors when good precision in torque control is required.

[0012] Therefore, the power of the asynchronous motor must be modified for each application to suit the client's needs. Therefore, sizing an asynchronous motor to drive a device is complicated to accommodate the wide variety of applications, especially different types of links, installation heights, speeds and accelerations of the winding / unwinding device, etc. The torque may not always be adapted according to the specific needs of the application, and the number of common parts for these devices for winding / unwinding links is limited, which increases 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 available applications.

[0013] US Patent Nos. 5,999,029 and 5,999,033 describe devices for winding / unwinding links that include magnetic couplers with hysteresis. These devices do not require electronic adjustment and can be modular. In practice, the adjustment is performed by the magnetic couplers, which adapt their speed to that of the reel, providing a pure torque and therefore a somewhat constant traction force on the links.

[0014] However, magnetic coupling devices for winding / unwinding have a lower completeness and do not allow for managing transient phenomena such as emergency stops or passing through the supply point. Moreover, these devices are not effective above a certain power because it is difficult to assemble an excessive number of couplers in the same gearbox, the dimensions of the latter become very large, and increasing the size of the couplers is expensive. Summary of the Invention [Problem to be solved by the invention]

[0015] It is an object of the present invention to provide a compact device for winding / unwinding links that has a large reduction range.

[0016] Another object of the invention is to propose a device for winding / unwinding links with good precision in order to control the torque and to allow high overtorques for short periods of time.

[0017] Another object of the invention is to propose a modular device for winding / unwinding links in such a way that the torque can be adapted to the desired application while still maintaining low production costs.

[0018] Another object of the invention is to propose a device for winding / unwinding links that makes it possible to protect the links to be wound / unwound. [Means for solving the problem]

[0019] According to a first aspect, the invention relates to a device for winding and / or unwinding links, the device comprising: an input shaft movable in rotation about a longitudinal axis; - an output shaft, which is a hollow through shaft substantially coaxial with the input shaft and arranged for passage of a link between the reel and the rotary joint, and which is configured to drive the reel in rotation about its longitudinal axis; at least one permanent magnet synchronous motor including a rotor disposed about a first portion of an output shaft, the rotor being integral in rotation with the input shaft; - a cycloidal reducer disposed about the second portion of the output shaft and including at least one internal cam, an external crown gear, and at least one cycloidal disc disposed between each cam and the crown gear, each cam integrally mounted in rotation with the input shaft, and at least one cycloidal disc integrally mounted in rotation with each cam, each cam being eccentric in such a way that rotation of each cam about its longitudinal axis drives rotation of the at least one cycloidal disc in an eccentric cycloidal motion; - a transmission member suitable for transmitting the angular displacement of the at least one cycloidal disc to the output shaft in such a way that the eccentric cycloidal rotation of the at least one cycloidal disc drives rotation about the longitudinal axis of the output shaft.

[0020] Particular preferred but non-limiting features of the above-described winding / unwinding device, when taken individually or in combination, are the following:

[0021] The input shaft is disposed around at least a portion of the output shaft.

[0022] The winding / unwinding device further comprises a casing in which the at least one synchronous motor and the cycloidal reducer are arranged, the output shaft passing through the casing from one end to the other end of the casing.

[0023] The winding / unwinding device includes between one and four synchronous motors mounted in series along a first portion of the output shaft.

[0024] At least one synchronous motor is an axial flux permanent magnet synchronous motor.

[0025] - At least one cam and the input shaft are formed from a single piece, and each cam includes an outer surface having a radial dimension that varies according to the angular position of each cam about the longitudinal axis when mounted on the winding / unwinding device.

[0026] At least one cycloidal disc is a cycloidal wheel.

[0027] - the transmission member includes a first portion and a second substantially radial portion configured to connect the first portion with the output shaft, the transmission member being configured in such a way that eccentric cycloidal rotation of the at least one cycloidal disc drives rotation of the first portion of the transmission member about its longitudinal axis.

[0028] - the at least one cycloidal disc includes at least one longitudinal bore, and the first part of the transmission member forms at least one longitudinal finger adapted to extend into the at least one longitudinal bore of the at least one cycloidal disc in such a way as to transmit the angular displacement of the at least one cycloidal disc to the first part of the transmission member.

[0029] - the cycloidal reducer includes two substantially identical cycloidal discs mounted in series along a longitudinal axis, the two cycloidal discs being arranged at opposite eccentricities within the cycloidal reducer, each cycloidal disc including at least one longitudinal bore, the longitudinal bores of the two cycloidal discs being arranged facing each other in such a way as to form at least one pair of longitudinal bores when the cycloidal discs are mounted within the winding / unwinding device, and at least one finger of the transmission member extending into at least one pair of longitudinal bores of the two cycloidal discs.

[0030] - the winding / unwinding device includes a first cycloidal disc and a second cycloidal disc, the first cycloidal disc being integrally mounted in rotation with the at least one cam, the second cycloidal disc being integrally mounted in rotation with the first cycloidal disc, and the first part of the transmission member including an internal tooth arrangement, the internal tooth arrangement being arranged outside the second cycloidal disc and configured to cooperate with the external cycloidal tooth arrangement of the second cycloidal disc in such a way that eccentric rotation of the second cycloidal disc drives rotation about the longitudinal axis of the first part of the transmission member.

[0031] - the first part of the transmission member includes a rigid frame and an assembly of substantially cylindrical shafts, the rigid frame including an assembly of substantially cylindrical bores distributed circumferentially about the longitudinal axis, each shaft of the assembly of shafts being inserted into a respective bore of the assembly of bores of the frame of the first part of the transmission member in such a way as to form an internal toothing arrangement of the first part of the transmission member.

[0032] According to a second aspect, the present invention relates to a winder for links, the winder comprising a reel, a winding / unwinding device according to the first aspect, a rotary joint and a control device, the control device being configured to control the setpoint and / or control the synchronous motor in such a way that the control device and the winding / unwinding device provide an appropriate winding / unwinding torque.

[0033] Other characteristics, objects and advantages of the invention will appear on reading the following detailed description, given as a non-limiting example illustrated by the following figures: [Brief explanation of the drawings]

[0034] [Figure 1] 1 shows a schematic side view of a winding / unwinding device according to an embodiment of the present invention; [Figure 2a] 1 shows a schematic perspective view, in partial cross section, of a winding / unwinding device according to an embodiment of the present invention; [Figure 2b] 1 shows a schematic perspective view, in partial cross section, of a winding / unwinding device according to an embodiment of the present invention; [Figure 3] 1 shows a schematic side view of a winding / unwinding device according to an embodiment of the present invention; [Figure 4] 1 shows a schematic side view of a winding / unwinding device according to an embodiment of the present invention; [Figure 5a] 1 shows a schematic perspective view, partially in cross section, of a winding / unwinding device according to an embodiment of the present invention; [Figure 5b] 1 shows a schematic perspective view, partially in cross section, of a winding / unwinding device according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0035] The device for winding / unwinding the link is an input shaft 10 movable in rotation about a longitudinal axis L; an output shaft 20 substantially coaxial with the input shaft 10, the output shaft 20 being a hollow through shaft arranged for the passage of a link between the reel and the rotary joint, the output shaft 20 being configured to drive the reel in rotation about the longitudinal axis L.

[0036] In the remainder of the application, the term longitudinal axis L means the axis about which the input shaft 10 and the output shaft 20 are disposed. The radial direction is the direction that is perpendicular to and passes 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 a radial direction.

[0037] The terms internal and external are used with respect to the radial direction in such a way that a portion or an inner surface of an element is closer to the longitudinal axis L than a portion or an outer surface of the same element.

[0038] The terms upstream and downstream are each used with reference to a position on the longitudinal axis L. The rotating joint is located upstream from the winding / unwinding device, and the reel is located downstream from the winding / unwinding device.

[0039] The term link is used to designate different links such as electrical cables, data cables, air or fluid pipes, and the like.

[0040] The link is intended to be arranged between the reel and the rotary joint and is intended to be wound and / or unwound around the reel. The rotary joint allows a connection between the reel, which is rotationally driven by the output shaft 20, and the environment of the winding / unwinding device, which does not rotate about the longitudinal axis L. The rotary joint 20 is attached to the output shaft 20 and is integral with it in rotation about the longitudinal axis L in such a way that the rotary joint 20 is driven by the output shaft 20 at the same rotational speed as the output shaft 20.

[0041] For example, in the case of power transmission through link bias, the rotary joint can consist of a ring system made of a highly conductive alloy, on which sintered brushes with a high content of conductive material rub, ensuring electrical conductivity. Links from the reel are connected to the rings. Links from the fixed part are connected to the brushes.

[0042] Rotation of the reel in a first direction drives winding of the link around the reel, and rotation of the reel in a second direction opposite the first direction drives unwinding of the link. The winding / unwinding device can operate in the first rotational direction and the second rotational direction. Thus, the length of the link can be adjusted by the bias of the reel rotation.

[0043] The reeling / rewinding device allows the link to be protected by the bias of the hollow shaft. Thus, in practice, the link can extend within the hollow shaft of the device between the reel, located on a first side of the reeling / rewinding device, and the rotary joint, located on a second side of the reeling / rewinding device opposite the first side. The link is thus protected from potential deterioration, for example, due to weather conditions, restrictive external environments, erosion from external contact, or collisions and friction with external elements. The reeling / rewinding device can also protect the link from the internal components of the reeling / rewinding device because the link is constrained within the output shaft 20, which rotates at the same speed as the link.

[0044] The device for winding / unwinding the link is at least one permanent magnet synchronous motor 30 including a rotor 31 arranged around a first portion of the output shaft 20, the rotor 31 being integral in rotation with the input shaft 10; - a cycloid reducer (50) arranged around the second portion of the output shaft (20), the cycloid reducer (50) including at least one internal cam (51), an external crown gear (53), and at least one cycloid disc (52) arranged between each internal cam (51) and the external crown gear (53), each internal cam (51) being mounted so as to be integral in rotation with the input shaft (10), and the cycloid discs (52) being mounted so as to be integral in rotation with each internal cam (51), each internal cam (51) being eccentric in such a way that rotation of each internal cam (51) about the longitudinal axis (L) drives rotation of at least one cycloid disc (52) in an eccentric cycloidal motion; and - also includes a transmission member 60 suitable for transmitting the angular displacement of the at least one cycloidal disc 52 to the output shaft 20 in such a way that the eccentric cycloidal rotation of the at least one cycloidal disc 52 drives the rotation of the output shaft 20 about the longitudinal axis L.

[0045] The term gearbox refers to a mechanism intended to reduce speed and increase torque, where the output shaft 20 rotates at a speed lower than that of the input shaft 10. Alternatively, the term gearbox can refer to any mechanism intended to modify the speed and torque of the output shaft 20 relative to the input shaft 10.

[0046] The cycloidal reducer 50 thus makes it possible to modify the speed of the output shaft 20 relative to the speed of the drive shaft by a certain ratio called the reduction ratio. The device for winding and / or unwinding links thus transmits the rotation of the input shaft 10 to the output shaft 20. The winding / unwinding device thus makes it possible to drive in rotation a reel in response to the rotation of the rotor 31 of the synchronous motor or motors 30 and to wind / unwind links itself.

[0047] The term "cycloidal" is used to indicate a profile that substantially corresponds to a cycloid, i.e., a locus of points fixed on a circle that rotates without slip on its generatrix. The profile described can deviate from a purely theoretical cycloidal profile. Typically, the cycloidal disk 52 can have an external cycloidal surface.

[0048] The cycloidal reducer 50 allows substantial reduction ratios to be reached, for example, up to about 1 / 120, e.g., 20, 40, or 90, in a compact manner. The cycloidal reducer 50 has a low probability of failure, low operating clearance, and high yield relative to other gearboxes, such as conventional helical bevel gearboxes. The cycloidal reducer 50 has a more substantial contact ratio, and therefore a larger number of teeth on a more substantial contact surface, than conventional helical bevel gearboxes. Consequently, the cycloidal reducer 50 is better able to withstand short and / or large jolts.

[0049] The permanent magnet synchronous motor 30 (or synchronous motor 30) offers improved precision in torque control over an asynchronous motor. In fact, since the magnetic field is generated by a permanent magnet, a synchronous motor does not experience slippage or magnetization of the rotor 31 due to the motor current. As a result, substantially all of the current input to the permanent magnet synchronous motor 30 is used to generate torque. Therefore, the difference between the setpoint torque and the torque actually delivered to the output shaft 20 is reduced. Thus, the mechanical torque is a direct image of the current, which makes control of the winding / unwinding device easier and more precise.

[0050] In addition, the synchronous motor 30 tolerates over-torque for shorter periods of time and at higher values ​​than an asynchronous motor. Emergency stop phases are therefore better managed. The same applies to phases in which it is necessary to brake the reel and restart it in the opposite direction in a very short time, as is the case when the winder has to pass above its feed point. Using a synchronous motor therefore makes it possible to limit the motor power for the same application.

[0051] Finally, the link winding / unwinding device allows for great modularity. In fact, several synchronous motors 30 can be controlled by the same frequency variator in such a way that the electronic control of the winding / unwinding device is implemented. Consequently, the number of synchronous motors 30 of the winding / unwinding device can be adapted. The dimensioning of the motor driving the device can therefore be easily adapted to various applications, in particular to different types of links, the installation height, speed and acceleration of the winding / unwinding device, etc. Consequently, the number of common parts of the link winding / unwinding device is substantial, which reduces its cost.

[0052] For example, several identical or substantially identical synchronous motors 30 can be mounted in series along the output shaft 20. Thus, the torque can be matched as closely as possible to the client's needs. Moreover, a larger number of identical permanent magnet synchronous motors 30 can be so manufactured, which allows the cost thereof to be reduced.

[0053] The synchronous motor 30 is disposed upstream of the cycloidal reducer 50. The input shaft 10 and the output shaft 20 extend substantially along a longitudinal axis L. The winding / unwinding device may have radial symmetry about the longitudinal axis L.

[0054] The input shaft 10 is a hollow shaft and can correspond to a drive shaft for a winding / unwinding device. The input shaft 10 can be disposed around at least a portion of the output shaft 20, with the input shaft 10 being located more outboard than the output shaft 20. A roller bearing is disposed between the input shaft 10 and the output shaft 20 to allow the input shaft 10 to rotate at a different speed than the output shaft 20.

[0055] The input shaft 10 can extend through the synchronous motor 30 and into the cycloidal reducer 50, particularly to at least one cam 51 of the cycloidal reducer 50. The input shaft 10 can have a first end configured to extend from a side of the rotary joint and a second end opposite the first end.

[0056] The input shaft 10 receives drive power to be transmitted to the synchronous motor or motors 30, which generate mechanical power to be transmitted via their rotors 31. A second end of the input shaft 10 can be radially expanded by at least one cam 51 at a cycloidal reducer 50. The cam 51 can be disposed around the second end of the input shaft 10, the cam 51 being disposed at a more outer position than the input shaft 10. A bearing can be disposed between the output shaft 20 and the input shaft 10 at the cam 51.

[0057] The at least one cam 51 and the input shaft 10 can be formed from a single piece. Alternatively, the cam 51 can be attached and fixed to the input shaft 10 at its second end.

[0058] The input shaft 10 may have means for driving a rotor 31 of the synchronous motor 30 arranged on the synchronous motor 30. For example, complementary flutes on the input shaft 10 and the rotor 31 may enable the input shaft 10 and the rotor 31 of the synchronous motor 30 to be rigidly mounted in rotation relative to each other.

[0059] During winding of the link, the rotation of the rotor 31 is transmitted to the input shaft 10, and the rotor 31 drives the input shaft 10 in rotation about the longitudinal axis L. The synchronous motor or motors 30 then become the motors that drive the reel in rotation.

[0060] Conversely, during unwinding of the link, the rotation of the input shaft 10 about the longitudinal axis L is transmitted to the rotor 31 of the synchronous motor or motors 30 by means of driving the rotor 31. The synchronous motor or motors 30 then become generators and brake the unwinding of the reel, preventing runaway of the reel.

[0061] The output shaft 20 is a hollow through shaft. The output shaft 20 can extend substantially the entire length of the winding / unwinding device between the rotary joint and the reel. A first portion of the output shaft 20 is disposed upstream of a second portion of the output shaft 20. 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.

[0062] The output shaft 20 may include a third portion disposed downstream from the second portion, the third portion connecting the second portion to the end of the output shaft 20 at the reel. A transmission member 60 may be disposed on the output shaft 20 between the second portion and the third portion.

[0063] The reeling / unreeling device can include a casing 40 in which at least one synchronous motor 30 and a cycloidal reducer 50 are disposed. The output shaft 20 passes from one end of the casing 40 to the other end of the casing 40. Thus, the link never comes into contact with the outside as it passes between the rotary joint and the reel; the link is still contained within the output shaft 20. Thus, the link is better protected from potential deterioration due to the external environment. The link is also protected from the internal components of the reeling / unreeling device.

[0064] In the case of a fluid, the output shaft 20 can be used as a conduit to transport the fluid from one side of the reel / unreel device to the other, thus eliminating the need to use an additional conduit to transport the fluid through the reel / unreel device.

[0065] The output shaft 20 may have a substantially constant radius over the entire length of the output shaft 20. Alternatively, the output shaft 20 may have a variable radius according to the position along the longitudinal axis L. For example, the first and second portions of the output shaft 20 may have a first radius at the level of the synchronous motor 30 and the cycloidal reducing joint 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.

[0066] The winding / unwinding device may include between 1 and 10 permanent magnet synchronous motors 30, for example, between 1 and 4 permanent magnet 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.

[0067] The number of permanent magnet synchronous motors 30 can therefore be adapted according to the needs of the client and the intended application of the winding / unwinding device. In particular, a small number of synchronous motors 30, for example two synchronous motors 30 with different powers, can cover a power range of 1.5 to 30 kW with a matching pitch, which is the conventional power range.

[0068] The permanent magnet synchronous motor 30 includes a rotor 31 and a stator 32. The rotor 31 includes an assembly of magnets arranged substantially radially about a longitudinal axis L. The stator 32 is arranged substantially radially facing the magnets of the rotor 31.

[0069] The permanent magnets can be trapezoidal magnets with reversed polarity between two successive magnets. Such trapezoidal magnets are shown, for example, in Figure 2b. The windings generate an alternating magnetic flux, e.g., an axial magnetic flux, according to the frequency of the current passing through them. The opposing magnets are then displaced to follow the rotating magnetic field, thereby allowing torque to be generated.

[0070] 3 shows a winding / unwinding device including a single permanent magnet synchronous motor 30. The permanent magnet is disposed on the upstream face of the rotor 31, and the stator 32 is disposed upstream from the rotor 31 in such a way that the downstream face of the stator 32 faces the upstream face of the rotor 31.

[0071] The winding / unwinding device may include two or more synchronous motors 30. Each pair of two synchronous motors 30 may then be grouped together into a motor assembly including a rotor 31 and a stator 32. The rotor 31 of the motor assembly includes two assemblies of permanent magnets arranged on opposite sides of the rotor 31. Thus, one of the two assemblies of permanent magnets is arranged on the upstream surface of the rotor 31, and the other of the two assemblies of permanent magnets is arranged on the downstream surface of the rotor 31.

[0072] The stators 32 can be arranged on either side of the rotor 31 in such a way that each assembly of permanent magnets of the rotor 31 faces the face of the stator 32. Advantageously, two opposite sides of the same permanent magnets can then form the rotors 31 of two adjacent motors. Alternatively, the stator 32 can be arranged between two rotors 31, the rotors 31 being arranged on either side of the stator 32, with each winding being used to generate torque for two different rotors.

[0073] 1 shows a winding / unwinding device including four permanent magnet synchronous motors 30. The four synchronous motors 30 are grouped into two motor assemblies, each assembly including two synchronous motors 30.

[0074] At least one permanent magnet synchronous motor 30 can be an axial flux permanent magnet synchronous motor 30. Such an axial flux synchronous motor 30 has improved compactness in the longitudinal direction relative to a radial flux synchronous motor.

[0075] The cycloidal reducer 50 may include a cam 51 or several cams 51 mounted in series along the longitudinal axis L. Each cam 51 of the device may have substantially the same cam geometry 51.

[0076] Each cam 51 can include an inner surface and an outer surface. The cams 51 are eccentric. Thus, at least one cam 51 can include an outer surface having a radial dimension that varies according to the angular position about the longitudinal axis L, i.e., according to the radial direction, when the at least one cam 51 is attached to 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.

[0077] The input shaft 10 may have a substantially constant radius along the longitudinal axis L. The radius of the input shaft 10 may be smaller than the radial dimension of the outer surface of the cam 51 regardless of its angular position about the longitudinal axis L, i.e., regardless of the radial direction. Thus, the junction between the second end of the input shaft 10 and the cam 51 forms a step of a staircase. The cam 51 is eccentric, and the dimension of the step of the staircase varies according to its angular position about the longitudinal axis L.

[0078] The inner surface of the cam 51 may have rotational symmetry about the longitudinal axis L when the cam 51 is mounted on the winding / unwinding device. The inner surface of the cam 51 may be substantially circular and may be centered about the longitudinal axis L, with the radius of the inner surface of the cam 51 substantially corresponding to the radius of the input shaft 10.

[0079] The outer surface of the cam 51 may have rotational symmetry about the camshaft 51 when the cam 51 is attached to the winding / unwinding device. The camshaft 51 is parallel to the longitudinal axis L, but is not to be confused with the longitudinal axis L, and the camshaft 51 is spaced a certain distance from the longitudinal axis L.

[0080] The outer surface of the cam 51 can be substantially circular and can be centered about the camshaft 51. In other words, when the cam 51 is attached to the winding / unwinding device, the center of the circle of the outer surface of the cam 51 is located on the camshaft 51 and therefore not located on the longitudinal axis L.

[0081] The cycloidal reducer 50 may include a cycloidal disk 52 or several 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 geometric shape, or alternatively, may have different geometric shapes from one another.

[0082] The cycloidal disk of the cycloidal reducer 50 or the cycloidal disk 52 between the multiple cycloidal disks 52 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 external cycloidal teeth. The inner surface of the cycloidal disk 52 has a shape and dimensions that substantially correspond to the shape and dimensions of the outer surface of the cam 51. The outer surface of the cam 51 drives the inner surface of the cycloidal disk 52 in rotation via a means for driving the cycloidal disk 52. The means for driving the cycloidal disk 52 can include a bearing, such as a needle or roller bearing, disposed between the cam 51 and the cycloidal disk 52. Alternatively, the means for driving the cycloidal disk 52 can include a smooth bearing disposed between the cam 51 and the cycloidal disk 52.

[0083] The cycloidal disc 52 may have rotational symmetry about its axis. When the cycloidal disc 52 is mounted on the winding / unwinding device, the axis of the cycloidal disc 52 is parallel to the longitudinal axis L, but is not intertwined with the latter, and the axis of the cycloidal disc 52 is spaced a certain distance from the longitudinal axis L. The axis of the cycloidal disc 52 may correspond to the camshaft 51. In particular, the inner surface of the cycloidal disc 52 may be substantially circular, with a radius that substantially corresponds to the radius of the outer surface of the cam 51.

[0084] The exocycloidal toothing of the cycloidal disc 52 may include rounded teeth, each tooth including a root, a flank, and a crest. The root of the tooth corresponds to the innermost portion of the tooth, and the crest of the tooth corresponds to the outermost portion of the tooth. The flank of the tooth connects the root and the crest of the tooth.

[0085] The external cycloidal toothing of the cycloidal disk 52 can have a substantially cycloidal profile. The generatrix of the cycloidal toothing can substantially correspond to a circle inscribed in the base of the cycloidal toothing, i.e., a circle tangent to the base of each tooth of the cycloidal toothing. Alternatively, the external toothing of the cycloidal disk 52 can include a toothing offset to reinforce the toothing and improve its service life and performance. The generatrix of the cycloid can then be offset relative to the generatrix without a toothing offset.

[0086] Alternatively, the external tooth configuration of the cycloidal disc 52 can have a profile that moves away from the theoretical cycloid in a manner that minimizes constraints placed on the teeth and facilitates assembly of the cycloidal mesh.

[0087] The external crown 53 of the cycloidal reducer 50 is fixed, i.e., it cannot be moved in rotation about the longitudinal axis L. The crown gear 53 can be a wheel having rotational symmetry about the longitudinal axis L. The crown gear 53 includes an internal toothing that meshes with the external cycloidal toothing of the cycloidal disc 52.

[0088] The internal tooth configuration of the crown gear 53 can include rounded teeth, each tooth including a root, a flank, and a crest. The root corresponds to the outermost portion of the tooth, and the crest corresponds to the innermost portion of the tooth. The flank connects the root and the crest. The teeth of the crown gear 53 can be distributed circumferentially about the longitudinal axis L, i.e., they are spaced at equal angular distances from one another.

[0089] Each tooth of the internal toothing of the crown gear 53 can have a substantially cylindrical profile. The generatrix of the cylinder of rotation extends along the longitudinal axis L, and the cylinder is substantially radially distributed about the longitudinal axis L. Alternatively, each tooth of the internal toothing of the crown gear 53 can have any shape configured to cooperate with a tooth of the cycloidal toothing of the cycloidal disc 52.

[0090] For example, the teeth of the crown gear 53 can be substantially toroidal in shape to improve contact with the cycloidal tooth arrangement of the cycloidal disc 52. The toroidal shape of the teeth of the crown gear 53 can be adapted for a cycloidal gearbox 50 having a low reduction ratio. Alternatively, the internal tooth arrangement of the crown gear 53 can have a cycloidal shape.

[0091] The crown gear 53 may have a number of teeth corresponding to the number of teeth of the cycloidal disc 52 plus one tooth. Such an offset of a single tooth makes it possible to obtain a larger reduction ratio. Thus, if the cycloidal disc 52 has n teeth, the crown gear 53 has n+1 teeth. In the contact zone between the cycloidal disc 52 and the crown gear 53, at least one crest or flank of a tooth of the cycloidal disc 52 may come into contact with at least one flank of a tooth of the crown gear 53. Several teeth of the cycloidal disc 52 and / or the crown gear 53 may come into contact simultaneously.

[0092] The radius of a circle tangent to the top of each tooth of the external cycloidal tooth configuration of the cycloidal disk 52 can be smaller than the radius of a circle tangent to the bottom of each tooth of the internal tooth configuration of the crown gear 53. Thus, the cycloidal disk 52 can rotate inside the fixed crown gear 53 by following an eccentric cycloidal motion.

[0093] In a first embodiment, the fixed crown gear 53 includes a rigid frame and an assembly of shafts. The rigid frame includes an assembly of bores distributed circumferentially about the longitudinal axis L. Each shaft of the assembly of shafts is inserted into a respective bore of the assembly of bores of the frame of the crown gear 53 in such a way as to form an internal toothing configuration of the crown gear 53. The configuration of the rigid frame and the set of independent shafts rigidly assembled within the frame allows for achieving a high reduction ratio. Each shaft of the assembly of shafts can be substantially cylindrical, and each bore of the frame of the crown gear 53 can be substantially cylindrical, so as to provide teeth with a substantially cylindrical profile. Alternatively, each shaft and each bore can be substantially toroidal in shape or have any shape configured to ensure cooperation with the teeth of the cycloid disc 52.

[0094] In a second embodiment, the crown gear 53 is formed from a single piece and includes protrusions configured to form the teeth of the crown gear 53. The protrusions can be substantially cylindrical, toroidal, or of any other shape that allows them to reach satisfactory contact with the cycloidal tooth arrangement of the cycloidal disc 52.

[0095] The transmission member 60 is movable in rotation about the 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 substantially radial and may be configured to connect the first portion 61 with the output shaft 20. The transmission member 60 may be configured in such a way that the eccentric cycloidal rotation of the at least one cycloidal disk 52 drives the rotation of the first portion 61 of the transmission member 60 about the longitudinal axis L. Thus, the eccentric cycloidal rotation of the cycloidal disk 52 is converted into rotation about the longitudinal axis L by cooperation between the cycloidal disk 52 and the first portion 61 of the transmission member 60.

[0096] The first portion 61 of the transmission member 60 may be formed from a single piece with the second portion 62 of the transmission member 60. The transmission member 60 may be formed from a piece with the output shaft 20.

[0097] The outer surface of the crown gear 53 can be mounted flush with the outer surface of the casing 40, and / or the outer surface of the stator 32, and / or the outer surface of the first portion 61 of the transmission member 60. Thus, the outer surface of the assembly formed by the synchronous motor 30, the cycloidal reducer 50 and the casing 40 can be substantially flat.

[0098] In a first embodiment, shown by way of non-limiting example in Figures 4, 5a and 5b, the cycloidal reducer 50 has a single-stage or single-train architecture.

[0099] The at least one cycloidal disc 52, in turn, comprises at least one longitudinal bore. The first portion 61 of the transmission member 60 forms at least one longitudinal finger suitable for extending into the at least one longitudinal bore of the at least one cycloidal disc 52 in such a way as to transmit the angular displacement of the at least one cycloidal disc 52 to the first portion 61 of the transmission member 60.

[0100] This first embodiment has the advantage that only a single cycloidal disc 52 profile is required to convert the eccentric motion of the cycloidal disc 52 into circular motion of the first portion 61 of the transmission member 60. Thus, a single cycloidal wheel should be sized for the cycloidal reducer 50.

[0101] The longitudinal fingers extend longitudinally and project from the second radial portion 62 of the transmission member 60. The longitudinal fingers may be substantially cylindrical.

[0102] The longitudinal bore may extend through the cycloidal disc 52 or, alternatively, may extend only into a downstream portion of the cycloidal disc 52 without passing through the longitudinal bore.

[0103] The longitudinal bore can be substantially cylindrical and has dimensions greater than the dimensions of the longitudinal fingers. Thus, during rotation of the cycloidal disc 52, the longitudinal bore of the cycloidal disc 52 rotates both around the longitudinal fingers and about the longitudinal axis L in such a way as to drive the longitudinal fingers in rotation about the longitudinal axis L. In other words, the dimensions of the longitudinal bore of at least one cycloidal disc 52 make it possible to absorb the radial motion component of the cycloidal disc 52, which results in eccentric rotation of the cycloidal disc 52, while still transmitting the rotation component about the longitudinal axis L.

[0104] More specifically, the cycloidal disc 52 may include a plurality of longitudinal bores circumferentially distributed about the longitudinal axis L, and the first portion 61 of the transmission member 60 defines a plurality of longitudinal fingers circumferentially distributed about the longitudinal axis L. Each longitudinal finger is configured to extend into a corresponding bore in the cycloidal disc 52. Thus, the mechanical resistance of the assembly is improved, the cycloidal reducer 50 can withstand more substantial shocks and pressures, and the reduction ratio can be increased.

[0105] In a first embodiment, the cycloidal reducing joint 50 can include one or several cycloidal discs 52 mounted in series along the second portion of the output shaft 20. For example, as shown in Figures 4, 5a and 5b, the cycloidal reducing joint 50 can include two substantially identical cycloidal discs 523, 524 mounted in series along the longitudinal axis L, specifically along the second portion of the output shaft 20.

[0106] The two cycloidal disks 523, 524 are arranged at opposite eccentricities within the cycloidal reducer 50. In other words, the two cycloidal disks 523, 524 are arranged angularly substantially out of phase with each other in such a way that the bases of the cycloidal teeth of the first cycloidal disk 523 are offset relative to the bases of the cycloidal teeth of the second cycloidal disk 524, and vice versa. The eccentric position of the second cycloidal disk 524 can be substantially 180° from the eccentric position of the first cycloidal disk 523.

[0107] Such an arrangement with two cycloidal discs 523, 524 arranged with opposite eccentricities makes it possible to balance out imbalances by rotating the two cycloidal wheels in opposite directions. Moreover, this arrangement makes it possible to distribute the contact pressure on the different elements and to limit the contact pressure on each tooth of the cycloidal discs 523, 524, the pressure being distributed over a number of teeth proportional to the number of cycloidal discs.

[0108] Moreover, advantageously, by advantageously selecting a reduction ratio, especially with an odd number of reduction ratios, the two cycloidal discs 523, 524 are identical, so that the same part is produced twice. Thus, gains in production costs are possible. Moreover, this solution is hardly limited to small reductions, for example, less than 20.

[0109] On the other hand, the reversibility of this architecture is limited because restarting the eccentric motion of the cycloidal discs 523, 524 with the opposite eccentricity to return them to circular motion generates friction in the fingers that move eccentrically by rolling in the larger diameter bore, and therefore reversibility depends heavily on the quality of the contact of these fingers.

[0110] The two cycloidal discs 523, 524 may be identical and may mesh with a common crown gear 53 and / or may be mounted so as to be rotationally unitary with a common cam 51. When the wheels of the cycloidal discs 523, 524 each have n teeth and the crown gear 53 has n+1 teeth, the reduction ratio is directly equal to the number of teeth on the wheels of the cycloidal discs 523, 524.

[0111] Alternatively, each one of the two cycloidal discs 523, 524 can be attached to a respective fixed crown gear 53, the two crown gears 53 being arranged in series along the longitudinal axis L. Alternatively or additionally, each of the two cycloidal discs 523, 524 can be integral in rotation with a respective cam 51, the two cams 51 being arranged in series along the longitudinal axis L.

[0112] Each cycloidal disk 523, 524 includes at least one longitudinal bore. The longitudinal bores of the two cycloidal disks 523, 524 are arranged facing each other in such a way as to form at least one pair of longitudinal bores when the cycloidal disks 523, 524 are attached to the winding / unwinding device. At least one finger of the transmission member 60 extends into at least one pair of longitudinal bores of the two cycloidal disks 523, 524.

[0113] When the two cycloidal discs 523, 524 include a plurality of longitudinal bores distributed circumferentially about the longitudinal axis L, the longitudinal bores form a plurality of longitudinal bore pairs distributed circumferentially about the longitudinal axis L. Each finger of the plurality of longitudinal fingers of the first part 61 of the transmission member 60 extends into the longitudinal bore of a corresponding pair.

[0114] The two cycloidal discs 523, 524 are integral with each other in such a way that they have the same rotational speed about the longitudinal axis L.

[0115] In a first embodiment, the cycloidal reducer 50 can include more than two cycloidal discs 52 mounted in series along the second portion of the output shaft 20. The greater number of cycloidal discs 52 allows for limiting the contact pressure on each tooth of the cycloidal discs 52, with the pressure being distributed over a number of teeth proportional to the number of cycloidal discs.

[0116] In a second embodiment shown by way of non-limiting example in Figures 1, 2a, 2b, and 3, the cycloidal reducer 50 comprises a two-stage or two-train architecture. The cycloidal reducer 50, in turn, comprises two cycloidal discs 521, 522 with different profiles mounted in series along the longitudinal axis L.

[0117] The cycloidal reducer 50 includes a first cycloidal disc 521 and a second cycloidal disc 522. The first cycloidal disc 521 is integrally mounted in rotation with the at least one cam 51. The second cycloidal disc 522 is integrally mounted in rotation with the first cycloidal disc 521.

[0118] The first portion 61 of the transmission member 60 may include an internal tooth arrangement disposed outside the second cycloidal disc 522 and configured to cooperate with the external cycloidal tooth arrangement of the second cycloidal disc 522 in such a way that eccentric rotation of the second cycloidal disc 522 drives rotation of the first portion 61 of the transmission member 60 about the longitudinal axis L.

[0119] The first cycloidal disc 521 meshes with the internal toothing of the fixed crown gear 53 in a manner similar to that described above with respect to the at least one cycloidal disc 52 of the cycloidal reducer 50. If the first cycloidal disc 521 has n teeth, the crown gear 53 can advantageously have n+1 teeth.

[0120] The eccentric rotation of the first cycloidal disc 521 drives a corresponding eccentric rotation of the second cycloidal disc 522. The second cycloidal disc 522 meshes with the internal toothing of the first portion 61 of the transmission member 60. The internal toothing of the first portion 61 of the transmission member 60 cooperates with the external cycloidal toothing of the second cycloidal disc 522 in such a way as to transmit the angular displacement of the second cycloidal disc 522 to the first portion 61 of the transmission member 60. This movement is thus taken up by the first portion 61 of the transmission member 60, which is outside the second cycloidal disc 522, for transmission to the output shaft 20 of the winding / unwinding device. The first portion 61 of the transmission member 60 is guided in rotation by the bias of the output shaft 20 and is thus constrained to be angularly offset in rotation about the longitudinal axis L.

[0121] This second embodiment has the advantage that no fingers are required to convert the eccentric motion of the cycloid into circular motion, thus improving the reversibility of the assembly.

[0122] The first portion 61 of the transmission member 60 may be a wheel having rotational symmetry about the longitudinal axis L. The first portion 61 of the transmission member 60 includes an internal toothing arrangement that meshes with an external cycloidal toothing arrangement of the second cycloidal disc 522. The geometry of the first portion 61 of the transmission member 60 may be similar to the geometry of the crown gear 53.

[0123] The internal toothing of the first portion 61 of the transmission member 60 may include rounded teeth, each tooth including a root, a flank, and a crest. The root corresponds to the outermost portion of the tooth, and the crest corresponds to the innermost portion of the tooth. The flank connects the root to the crest. The teeth of the first portion 61 of the transmission member 60 may be distributed circumferentially about the longitudinal axis L, i.e., they are spaced at equal angular distances from one another.

[0124] Each tooth of the internal toothing arrangement of the first portion 61 of the transmission member 60 can have a substantially cylindrical profile. The generator of the cylinder of rotation extends substantially along the longitudinal axis L, and the cylinders forming the teeth are distributed substantially radially about the longitudinal axis L. Alternatively, each tooth of the internal toothing arrangement of the first portion 61 of the transmission member 60 can have any shape configured to cooperate with the teeth of the cycloidal toothing arrangement of the second cycloidal disk 522. For example, the teeth of the first portion 61 of the transmission member 60 can be substantially toroidal in shape to improve contact with the cycloidal toothing of the second cycloidal disk 522. Thus, contact occurs at the center of the tooth and extends from the center of the tooth during the life of the gearbox.

[0125] The first portion 61 of the transmission member 60 can have a number of teeth corresponding to the number of teeth of the second cycloidal disc 522 plus one tooth. Thus, such an offset of a single dent allows for a larger reduction ratio. Thus, if the second cycloidal disc 522 has N teeth, the first portion 61 of the transmission member 60 has N+1 teeth.

[0126] In the contact zone between the second cycloidal disc 522 and the first part 61 of the transmission member 60, the crests or flanks of the teeth of the second cycloidal disc 522 come into contact with at least one flank of a tooth of the first part 61 of the transmission member 60. Several recesses of the second cycloidal disc 522 and / or the first part 61 of the transmission member 60 can be in contact simultaneously. The rotation of the second cycloidal disc 522 in the first part 61 of the transmission member 60, through the bias of the inter-tooth contact, pushes in reaction on the first part 61 of the transmission member 60, thereby causing it to rotate about the longitudinal axis L.

[0127] In the first embodiment, the first portion 61 of the transmission member 60 includes a rigid frame and an assembly of shafts. The rigid frame includes an assembly of bores distributed circumferentially about the longitudinal axis L. Each shaft of the assembly of shafts is inserted into a respective bore of the assembly of bores of the frame of the first portion 61 of the transmission member 60 in such a way as to form a tooth configuration of the first portion 61 of the transmission member 60. The configuration of the rigid frame and the assembly of independent shafts rigidly assembled within the frame allows for achieving a high reduction ratio. Each shaft of the assembly of shafts can be substantially cylindrical, and each bore of the frame of the first portion 61 of the transmission member 60 can be substantially cylindrical in such a way as to provide teeth of a substantially cylindrical profile, a substantially toroidal profile, or any shape configured to ensure cooperation with the teeth of the second cycloidal disk 522.

[0128] In the second embodiment, the first portion 61 of the transmission member 60 is formed from a single piece and includes protrusions configured to form the teeth of the first portion 61 of the transmission member 60. The protrusions can be substantially cylindrical, toroidal, or any other shape that allows them to reach satisfactory contact with the cycloidal tooth arrangement of the second cycloidal disc 522.

[0129] The reduction ratio of a two-stage cycloidal reducer 50, in which the first cycloidal disc 521 includes n teeth, the crown wheel 53 includes n+1 teeth, the second cycloidal disc 522 includes N teeth, and the first portion 61 of the transmission member 60 includes N+1 teeth, is:

number

number

[0130] The winding / unwinding device can be incorporated into a link winder. The link winder includes a reel, a winding / unwinding device as described above, a rotary joint, and a control device. An output shaft 20 is arranged for passage of the link between the reel and the rotary joint, and the output shaft 20 is configured to drive the reel in rotation about the longitudinal axis L.

[0131] The control device is configured to control the setpoint and / or control the synchronous motor or motors 30 in such a way that the control device and the winding / unwinding device provide an appropriate winding / unwinding torque.

[0132] The winding / unwinding torque can be varied according to the level of winding of the link. In practice, the winding radius varies according to the amount of link wound on the reel, for example, during the displacement of the two elements during which the link is unfolded. Therefore, the control device and the winding / unwinding device can be configured to provide a winding / unwinding torque that is configured according to the level of winding of the link.

[0133] Moreover, the winding / unwinding torque can vary according to the operation phase of the winder, which can be characterized by parameters such as speed, acceleration, established speed, etc. in the first or second rotation direction. Thus, the control device and the winding / unwinding device can be configured to provide an adapted winding / unwinding torque according to the operation phase of the winder.

[0134] Alternatively or additionally, the control device and the winding / unwinding device may therefore be configured to provide a predetermined winding / unwinding torque.

[0135] Alternatively or additionally, the control device and the reeling / unreeling device can therefore be configured to provide a reeling / unreeling torque that is adjusted according to measurements of the reeling and / or unreeling effect on the link, where the adjustment of the torque is controlled and performed in a closed loop. [Prior art documents] [Patent documents]

[0136] [Patent Document 1] French Patent Application Publication No. 2335754 [Patent Document 2] French Patent Application Publication No. 2607333A1 [Patent Document 3] French Patent Application Publication No. 2899399A1

Claims

1. A device for winding and / or unwinding links, comprising: an input shaft movable in rotation about its longitudinal axis; an output shaft, which is a hollow through shaft substantially coaxial with the input shaft and arranged for the passage of the link between a reel arranged on a first side of the device and a rotary joint arranged on a second side of the device opposite the first side, the rotary joint being integral with the output shaft in rotation about the longitudinal axis, the output shaft being configured to drive the reel in rotation about the longitudinal axis; at least one permanent magnet synchronous motor including a rotor arranged around a first portion of said output shaft, said rotor being integral in rotation with said input shaft; a cycloidal reducer arranged around a second portion of said output shaft and including at least one internal cam, an external crown gear and at least one cycloidal disc arranged between each cam and said external crown gear, each cam being integrally mounted in rotation with said input shaft and said at least one cycloidal disc being integrally mounted in rotation with each cam, each cam being eccentric in such a way that rotation of each cam about said longitudinal axis drives rotation of said at least one cycloidal disc in an eccentric cycloidal motion; a transmission member suitable for transmitting the angular displacement of said at least one cycloidal disc to said output shaft in such a way that the eccentric cycloidal rotation of said at least one cycloidal disc drives the rotation of said output shaft about said longitudinal axis, device.

2. The device of claim 1 , wherein the input shaft is disposed about at least a portion of the output shaft.

3. 3. The device of claim 1, further comprising a casing in which the at least one permanent magnet synchronous motor and the cycloidal reducing joint are disposed, the output shaft passing through the casing from one end to the other.

4. A device according to any one of claims 1 to 3, comprising between 1 and 4 synchronous motors mounted in series along the first portion of the output shaft.

5. The device according to any one of claims 1 to 4, wherein the at least one permanent magnet synchronous motor is an axial flux permanent magnet synchronous motor.

6. 6. The device of claim 1, wherein the at least one internal cam and the input shaft are formed from a single piece, and each cam includes an outer surface having a radial dimension that varies according to its angular position about the longitudinal axis when attached to the winding / unwinding device.

7. 7. The device of claim 1, wherein the transmission member includes a first portion and a second substantially radial portion configured to connect the first portion with the output shaft, the transmission member being configured in such a way that eccentric cycloidal rotation of the at least one cycloidal disc drives rotation of the first portion of the transmission member about the longitudinal axis.

8. 8. The device of claim 7, wherein the at least one cycloidal disc includes at least one longitudinal bore, and the first portion of the transmission member forms at least one longitudinal finger adapted to extend into the at least one longitudinal bore of the at least one cycloidal disc in such a way as to transmit the angular displacement of the at least one cycloidal disc to the first portion of the transmission member.

9. 9. The device of claim 8, wherein the cycloidal reducer includes two substantially identical cycloidal discs mounted in series along the longitudinal axis, the two cycloidal discs arranged with opposite eccentricities within the cycloidal reducer, each cycloidal disc including at least one longitudinal bore, the longitudinal bores of the two cycloidal discs arranged facing each other in such a way as to form at least one pair of longitudinal bores when the cycloidal discs are mounted within the winding / unwinding device, and the at least one longitudinal finger of the transmission member extends into the at least one pair of longitudinal bores of the two cycloidal discs.

10. 8. The device of claim 7, wherein the cycloidal reducing joint includes a first cycloidal disc and a second cycloidal disc, the first cycloidal disc being integrally mounted in rotation with the at least one internal cam and the second cycloidal disc being integrally mounted in rotation with the first cycloidal disc, and the first portion of the transmission member including an internal toothing arrangement disposed externally of the second cycloidal disc and configured to cooperate with an external cycloidal toothing arrangement of the second cycloidal disc in such a manner that eccentric rotation of the second cycloidal disc drives rotation of the first portion of the transmission member about the longitudinal axis.

11. 11. The device of claim 10, wherein the first portion of the transmission member includes a rigid frame and an assembly of substantially cylindrical shafts, the rigid frame including an assembly of substantially cylindrical bores distributed circumferentially about the longitudinal axis, and each shaft of the assembly of shafts is inserted into a respective bore of the assembly of bores of the rigid frame of the first portion of the transmission member in a manner so as to form the internal toothing of the first portion of the transmission member.

12. A link winder comprising a reel, a winding and / or unwinding device according to any one of claims 1 to 11, a rotary joint, and a control device configured to control the permanent magnet synchronous motor in such a way that the control device and the winding and / or unwinding device provide an appropriate winding / unwinding torque.

13. The device of claim 2, further comprising a bearing disposed between the input shaft and the output shaft.

14. The device described in claim 2, wherein the input shaft is positioned around the first portion of the output shaft.

15. The device described in claim 14, wherein the input shaft is positioned around the first portion and the second portion of the output shaft.

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