FR2704050A1 - Orientable support system for mission equipment mounted on a fixed or mobile carrier - Google Patents

Abstract

Orientable support system for mission equipment (1) mounted on a fixed or mobile carrier (2), comprising a plate (2) on which the mission equipment (1) is fixed and which is mounted such that it rotates about a first axis (A-A) formed by a first hollow shaft (10) and is mounted such that it pivots about at least a second axis (B-B) starting from the rotation of a second hollow shaft (15) which is coaxial with the first shaft (10). Drive means (M1, M2) for driving the two shafts (10, 15) in rotation are housed in a casing (20) fixed to the carrier (2). The control instructions are transmitted to the mission equipment by at least one cable passing freely through the inside of the second hollow shaft (15).

Description

The present invention relates to a swiveling support system for mission equipment mounted on a fixed or mobile carrier, of the type comprising
- a plate on which the mission equipment is fixed, such as an observation, aiming and / or firing system for example, said plate being at least rotatably mounted around a first axis and pivotally mounted around d '' a second axis perpendicular to said first axis
- First means for controlling the rotation of the plate around the first axis, these first means comprising a first hollow shaft defining said first axis, a first coupling device between the first shaft and the plate to drive the latter in rotation around of the first axis, and a first device for driving the first shaft in rotation
second means for controlling the pivoting of the plate around the second axis which is fixed relative to the plate, these second means comprising a second internal shaft coaxial with the first hollow shaft, a second coupling device between the second shaft and the plate, and a second drive device of the second shaft; and
- A housing in which the aforementioned drive devices are housed, the first and second control shafts protruding outside the housing to be connected to the plate by the first and second aforementioned coupling devices.

 An adjustable support system of the aforementioned type is described in particular in document US-A-4 / 655,567. The mission equipment considered in this document is a video camera fixed on a plate movable in rotation about a first axis defined by a first hollow shaft driven in rotation from a first motor member. The plate is pivotally mounted towards one end around a second axis perpendicular to the first axis of rotation. A second shaft coaxial with the first shaft is slidably mounted inside the latter and is driven in displacement by means of a second drive member. The second shaft is intended to come to bear, at one end, at a point on the lower surface of the camera support plate, to rotate it around the second axis. The two drive members are housed inside a housing.

 In general, mission equipment such as a camera - or any other equipment of the type indicated above, contains mechanical devices and electrical, electronic and / or optical circuits which are necessary for the proper functioning of the aircraft. equipment, independently of the support orientation system on which the mission equipment is mounted. In the context of the invention / the operation of these devices and circuits requires control orders which are transmitted automatically, semi-automatically or manually from a control station located inside the carrier, it i.e. located away from mission equipment. In this regard, it should be noted that the previous document does not mention the means used to ensure the operation of the video camera.

 The general object of the invention is to design a steerable support system for mission equipment mounted in particular on a mobile carrier, and which incorporates both a solution for orienting the support and a solution for transmitting orders necessary for the operation of the mission equipment.

 Another object of the invention is to design an orientable support system which is not adapted to the specific characteristics of a particular mission equipment, and which is associated with a functional box which incorporates both the drive means to ensure the orientation of the support and the interfaces necessary for the transmission of control orders sent from the carrier to actuate the aforementioned drive means and to ensure the operation of the mission equipment.

 To this end, the invention provides an orientable support system of the aforementioned type, and which is characterized in that the second shaft which is mounted coaxially inside the first shaft, is a hollow shaft, and in that the connections electrical control and / or power between the mission equipment and the carrier pass freely inside this second hollow shaft.

 According to another characteristic of the invention, the electrical control and power connections between the mission equipment and the carrier, are provided by at least one cable with possible interposition of a rotary joint for example.

 According to a first embodiment of the invention, the second hollow shaft is rotated around the first axis of rotation of the plate by the second drive device, and the second coupling device between the second hollow shaft and the plate includes an angle return device to transform the rotational movement of the second hollow shaft into a pivoting movement of the plate around the second axis.

 The angle transmission device can be constituted by a pinion mounted towards one end of the second hollow shaft, and by a toothed sector integral with the underside of the plate and the teeth of which mesh with the teeth of the pinion.

 According to a second embodiment of the invention, the second hollow shaft is driven in a sliding movement inside the first hollow shaft by the second drive device, and the second coupling device between the second hollow shaft and the plate is constituted by a device of the telescopic type comprising two elements fitted one inside the other, a first element fixed to the plate in a direction perpendicular to the second pivot axis, and a second element mounted articulated at one end of the second hollow shaft, to transform the sliding movement of the second hollow shaft into a pivoting movement of the plate around the second axis.

 The device of the telescopic type can for example be constituted by a jack. In this case, the first aforementioned element is formed by the body of the jack, while the second aforementioned element is formed by the piston rod of the jack.

 Thus, according to these two embodiments, it is possible to orient the mission equipment in bearing by rotation of the plate around the first axis, and to point it in elevation in the direction of a target for example by pivoting the platinum around the second axis.

 According to another characteristic of the invention, the plate which supports the mission equipment can be oriented along three different axes.

 Also, according to a third embodiment, the orientable support system comprises a third hollow shaft mounted coaxially inside the aforementioned second hollow shaft, the second and third shafts being slidably mounted, while the first shaft is controlled in rotation.

 As for the previous embodiments, this third shaft is associated with a third coupling device for connecting it to the plate of the adjustable support system, and with a third drive device for sliding it inside the second tree.

 Thus, in addition to the rotational movement around the axis AA and the pivoting movement around the axis BB, the plate of the orientable support system can pivot around a third axis CC, this pivoting movement being able to be advantageously used. for a horizontal positioning of the plate or an alignment thereof according to a defined plane, in particular when the mission equipment is rotated around the first axis AA.

 According to another characteristic of the invention, in particular in the case of two shafts controlled in rotation, as was envisaged in the aforementioned first embodiment, the two shafts are also slidably mounted along the first axis AA, so as to ability to re-enter them inside the case when the mission equipment is not in service.

 In general, the drives for the shafts are controlled by drive members which are housed inside the housing, each drive member comprising a geared motor and speed and position sensors for example, and mechanical transmission devices suitable and known per se for driving the various hollow shafts in a rotational or sliding movement.

 The box is also equipped with interface circuits, in particular electrical connectors accessible from the outside of the box to directly connect the cables intended to supply power to the drive members and transmit the operating control orders to these drive members from the carrier. Thus, the box forms an autonomous modular block which can be used as it is for different mission equipment.

 According to yet another characteristic of the invention, the housing can be protected by a cover fixed on the carrier, this cover comprising a central opening for the free passage of hollow shafts.

An adjustable support system according to the invention has many advantages, among which we can notably cite
- a high level of integration obtained by a single housing
- a design which is independent of the specific features of a particular mission equipment, which makes it possible to extend its use to different types of adaptation which do not call into question its general design
- simple assembly operations, whatever the carrier used; and
- reduced manufacturing cost.

Other advantages, characteristics and details of the invention will emerge from the explanatory description which follows, given with reference to the appended drawings, given solely by way of example, and in which
FIG. 1 is a schematic sectional view illustrating mission equipment mounted on a carrier by means of an adjustable support system according to a first embodiment of the invention,
FIG. 2 is an enlarged sectional view of the orientable support system shown in FIG. 1,
FIG. 3 is a schematic and partial sectional view of an adjustable support system according to a second embodiment of the invention,
FIG. 4 is a view along arrow IV of FIG. 3,
FIG. 5 is a schematic and partial sectional view of an orientable support system according to a third embodiment of the invention,
FIG. 6 is a schematic and partial top view of FIG. 5, and
- Figures 7a and 7b are sectional views of an adjustable support system according to a fourth embodiment of the invention and showing the system in two different states.

 FIG. 1 schematically and partially illustrates mission equipment 1 mounted on a carrier 2, such as an armored vehicle, and which comprises for example missiles la and an associated guidance device 1b. This mission equipment 1 is mounted on the carrier 2 by means of a support system 5 which makes it possible to orient the mission equipment 1 along at least two perpendicular axes A-A and B-B.

 According to a first embodiment illustrated in Figures 1 and 2, the orientable support system 5 comprises a plate 6 on which are fixed, in an appropriate manner, the missiles la and the associated guidance device 1b.

 The axis AA is an axis of rotation of the plate 6 which is materialized by a first hollow shaft 10. The rotation movement of the plate 6 is obtained from first control means which comprise, in addition to the first shaft 10, a first device for rotating the first hollow shaft 10 and the plate 6, and a first device for driving the first hollow shaft 10 in rotation.

The first coupling device is generally constituted by a piece in the form of a yoke 11 mounted towards one end of the first hollow shaft 10. More precisely, this yoke 11 comprises two first arms
Ila diametrically opposite, fixed towards one end of the first hollow shaft 10 and which extend radially outwards, these two first arms ila being respectively extended, parallel to the axis AA, by two second arms llb opposite one the other.

 The plate 6 has two arms 6a facing each other and located on the same main face of the plate 6. These two arms 6a are separated from each other by a distance substantially less than that which separates the two second arms llb of the yoke 11. The plate 6 is positioned between the two second arms llb of the yoke 11 so that these come into contact with the two arms 6a of the plate 6.

Two articulation half-shafts 12, axially aligned with each other, are respectively mounted between the two pairs of arms 6a and 11b for, on the one hand, securing in rotation the plate 6 to the first hollow shaft 10, and secondly pivotally mount the plate 6 relative to the yoke 11 of the first coupling device. These two half-shafts 12 materialize the second pivot axis B-B of the plate 6.

 The first device for rotating the first hollow shaft 10 along the axis AA comprises a pinion 13 which is mounted coaxially with said shaft 10 and towards the other end thereof, and a first motor member M1 whose shaft output is suitably coupled to the pinion 13 to drive the latter in one direction of rotation or in one another.

 The rotation of the first hollow shaft 10 by the drive member M1 causes the rotation of the plate 6 around the axis A-A by means of the first coupling device constituted by the yoke 11.

The mission equipment 1 can thus be oriented to position the missiles la according to a bearing angle determined with respect to a reference axis.

 In order to be able to fire the missiles along a determined firing direction, it is also necessary to rotate the plate 6 around the pivot axis B-B to orient the missiles at a determined angle of elevation.

 The pivoting movement of the plate 6 around the axis BB is obtained from second control means which comprise a second hollow shaft 15 coaxial with the first shaft 10 and rotatably mounted inside thereof, a second device d coupling in rotation of the second hollow shaft 15 and the plate 6, and a second device for driving in rotation the second shaft 15.

 The second coupling device 16 comprises a pinion 16a mounted coaxially with the second hollow shaft 15, fixed at one end of the latter and which meshes with a toothed sector 16b fixed on the main underside of the plate 6. The angle at the center defined by the toothed sector 16b determines the maximum angular movement of the plate 6 around the second pivot axis BB.

The second device for driving the rotation of the second hollow shaft 15 comprises a pinion 18 mounted coaxially with the second shaft 15 and fixed towards the other end thereof, and a second drive member
M2, the output shaft of which is suitably coupled to the pinion 18 to drive the latter in one direction of rotation or the other. Thus, the rotation of the second hollow shaft 15 causes, through the angle transmission device 16, the pivoting of the plate 6 around the axis BB.

 Generally, the second hollow shaft 15 housed inside the first hollow shaft 10 extends over a length greater than that of the latter, so as to protrude beyond the two ends of the first hollow shaft 10 This arrangement makes it possible to mount, towards the two ends of the second hollow shaft 15, the second coupling device 16 and the pinion 18 driven in rotation by the second motor member M2.

 A hollow box 20 is mounted between the orientable support system 5 proper and the carrier 2.

This housing 20 generally comprises a lower wall 20a, an upper wall 20b and a side wall 20c, and it is for example fixed on a flat outer bearing surface 2a of the carrier 2 at a radially outer rim which borders its lower wall 20a .

 This housing 20 is more particularly intended to house all of the aforementioned devices necessary for the rotary drive of the two hollow shafts 10 and 15. More specifically, the drive members M1 and M2 are housed inside the housing 20, as well as the associated drive pinions 13 and 18. The two coaxial shafts 10 and 15 pass through a central opening 21 of the upper wall 20b of the housing 20, to be connected to the plate 6 by means of their respective coupling devices 11 and 16.

 Inside the housing 20, the two pinions 13 and 18 respectively integral with the two hollow shafts 10 and 15, are supported and centered by coaxial bearings constituted by a ball stop P1 interposed between the two pinions 13 and 18, and of two tapered bearings P2 respectively interposed between the two upper 20b and lower 20a walls of the housing 20 and the two pinions 13 and 18.

 I1 should be noted, that each of the motor members M1 and M2 includes a servo-mechanism for driving the associated shaft, processing and power electronics, a gear motor, speed and position sensors, devices which have not been described in detail and which are known per se, as well as mechanical transmission devices suitable for coupling in rotation the two hollow shafts 10 and 15 to the respective output shafts of the geared motors.

 The housing 20 is provided with interface circuits which are used for the transmission of power and of the control orders necessary for the operation of the engine groups M1, M2 and of the mission equipment 1.

These interface circuits include in particular
a connector C1 for transmitting the power supply to the motor members M1 and M2 from a power source located inside the carrier 2,
a connector C2 for transmitting the control orders to the engine members M1 and M2 from the carrier 2 under the control of an operator on board the carrier, and
a link interface I for transmitting the control orders to the mission equipment 1 from the carrier 2, and for ensuring its power supply when the mission equipment 1 does not include an autonomous power source.

 The connectors C1 and C2 are for example mounted on a side wall of the housing 20 (FIG. 1) or on its lower wall 20a (FIG. 2), suitable openings being provided in the carrier 2 for the passage of the associated cables 22 and 23 which are connected to these connectors C1 and C2.

 Referring more particularly to FIG. 2, the connection interface I is advantageously constituted by the internal volume 15a of the second hollow shaft 15 which forms a direct passage, through the housing 20, between the carrier 2 and the equipment of mission 1. The bottom wall 20a of the housing 20 is pierced with a central opening 24 for free access to the interior volume 15a of the second hollow shaft 15, this opening 24 opening out inside the carrier 2 and being, for example extended, at inside the housing 20, by a sleeve 24a which is housed inside the second hollow shaft 15 to perfect the centering of the two shafts 10 and 15. Under these conditions, the control orders to ensure the operation of the equipment mission 1 are transmitted via at least one electric cable 25 which passes freely inside the second hollow shaft 15. Advantageously, provision may be made for the interposition of a rotary joint 25a to avoid u does untimely twisting of the cable 25 during the rotational movements of the plate 6 around the first axis A-A.

 A protective cover 30 attached to the carrier 2 protects the control unit 20.

This cover 30 is pierced with a central opening 31 for the free passage of the two hollow control shafts 10 and 15.

 According to a second embodiment illustrated in Figures 3 and 4, the plate 6 of the adjustable support system 5 is also rotatably mounted around a first axis AA and pivotally mounted around a second axis BB fixed relative to the plate 6 On the other hand, the pivoting of the plate 6 around the second axis BB is obtained from the sliding movement of a second hollow shaft 35 coaxial internally with the first hollow shaft 10.

 As in the previous embodiment, first means for controlling the rotation of the plate 6 around the first axis AA comprise the first hollow shaft 10, a first device for rotationally coupling the hollow shaft 10 and the plate 6 , and a first device for driving the hollow shaft 10 in rotation.

 The first device for rotating the first shaft 10 comprises an intermediate plate 36 which is mounted towards the free end of the first shaft 10 and which extends radially outwards. This intermediate plate 36 is connected to the plate 6 by at least one arm 37 which extends parallel to the first axis of rotation AA and which ends in a connection of the articulated type between the arm 37 and the plate 6. This connection comprises a yoke 38 fixed to the free end of the arm 37, a tenon 39 secured to the plate 6 and a pin 40 supported by the yoke 38 and which passes through the tenon 39.

 The pin 40 is mounted along an axis perpendicular to the first axis of rotation AA and it materializes the second pivot axis BB of the plate 6. In the example illustrated in Figures 3 and 4, the intermediate plate 36 is connected to the plate 6 by two arms 37.

 The first device for driving the first hollow shaft 10 in rotation is similar to that described in the previous embodiment, namely a motor member M1 which engages a pinion 13 carried by the hollow shaft 10. This pinion 13 is mounted towards the end of the shaft 10 which is opposite to that adjacent to the plate 6.

 The second coupling device between the second hollow shaft 35 and the plate 6 comprises a device of the telescopic type constituted by a jack 42. More specifically, the body 43 of the jack 42 is fixed to the lower main face of the plate 6 by being aligned in a direction perpendicular to the second pivot axis BB, while the free end of the piston rod 44 is mounted articulated at the end of the second hollow shaft 35. The articulation between the piston rod 44 and the second shaft hollow 35 is constituted by a yoke 45 fixed on the end of the second hollow shaft 35, by a tenon 46 which extends the piston rod 44 and by a pin 47 supported by the yoke 45 and which passes through the tenon 46.

 The second device for driving the second hollow shaft 35 in a sliding movement inside the first hollow shaft 10 is provided by a motor member M3 housed inside the housing 20, the latter generally having the same characteristics as that of the first embodiment, in particular as regards the interface circuits C1, C2 and I.

 According to a third embodiment illustrated in Figures 5 and 6, the adjustable support system allows the plate 6 to be able to be oriented along a third pivot axis C-C.

 For this purpose, there is provided a third hollow shaft 50 coaxial with the first two hollow shafts 10 and 35 respectively mounted to rotate and slide. This third hollow shaft 50 is housed inside the second shaft 35 and is, like it, slidably mounted.

 As in the two previous embodiments, first means for controlling the rotation of the plate 6 around the axis AA comprise the first hollow shaft 10, a first device for rotationally coupling the hollow shaft 10 and the plate 6, and a first device for driving the hollow shaft 10 in rotation.

 The first device for rotating the first hollow shaft 10 comprises an intermediate plate 51 which is mounted towards the free end of the first hollow shaft 10, opposite that adjacent to the plate 6, and which extends radially towards the outside.

A support arm 52 fixed on the intermediate plate 51 extends in the direction of the lower face of the plate 6, and it is connected in an articulated manner to this by means of a ball joint R1.

 The second coupling device between the second hollow shaft 35 and the plate 6 comprises an intermediate plate 53 which is mounted towards a free end of the second shaft 35 and which extends radially outwards. A support arm 54 fixed on the intermediate plate 53 extends in the direction of the lower face of the plate 6, and it is connected in an articulated manner to the latter by means of a ball joint R2.

 The two ball joints R1 and R2 materialize the second pivot axis B-B of the plate 6.

 The third coupling device between the third hollow shaft 50 and the plate 6 comprises an intermediate plate 55 which is mounted towards a free end of the third shaft 50 and which extends radially outwards. The two plates 6 and 55 are connected to each other by means of a double articulation. More specifically, an intermediate central element 56 supports on one side, a first ball joint R3 connected to the plate 6 and, on the other side, a second ball joint R4 connected to the intermediate plate 55.

 The two ball joints R1 and R3 materialize the third pivot axis C-C of the plate 6, while the ball joint R4 participates in the transmission of the movement during the sliding of the shafts 35 and 50.

 The first device for driving the first hollow shaft 10 in rotation is similar to that described in the two previous embodiments, namely a motor member M1 which engages a pinion 13 carried by the hollow shaft 10 and towards the end of this one which is opposite to the plate 6.

 The second and third drive devices which allow the second and third hollow shafts 35 and 50 to slide are respectively constituted by two drive members M3 and M'3 which are similar to the drive member M3 which ensures the sliding of the second hollow shaft 35 in the second embodiment shown in FIGS. 3 and 4.

 Thus, the sliding of the second shaft 35 inside the first hollow shaft 10 causes the plate 6 to pivot about the axis CC, while the sliding of the third shaft 50 inside the second hollow shaft 35 causes a pivoting of the plate 6 around the axis BB.

 As for the two previous embodiments, the drive members M1, M3, M'3 are housed in a box 20, and the control commands for the mission equipment 1 are transmitted by at least one central cable 25 passing freely through inside the third hollow shaft 50 and, a fortiori, inside the second hollow shaft 35.

 According to a fourth embodiment described in FIGS. 7a and 7b, the orientable support system is generally similar to that corresponding to the first embodiment illustrated in FIGS. 1 and 2, but it has an additional characteristic which consists in being able to move in synchronism the two hollow shafts 10 and 15 in a sliding movement along the first axis AA. In this way, it is possible to return the two shafts 10 and 15 inside the housing 20 and partly inside the carrier 2, in particular when the mission equipment is not in service.

 To obtain this sliding movement, the rotational movement of the first hollow shaft 10 is made by a key 60 which slides in a groove 61 provided on the external surface of the shaft 10 and which extends parallel to the axis AA , this key 60 being supported by the drive pinion 13 of the shaft 10.

 The pinion 18 which must ensure the rotational drive of the second rotary shaft 15 is extended by a sleeve 63 mounted around the first rotary shaft 10 and extended by a rod 64 which freely crosses an opening 65 provided in a flange 66 located at the free end of the second shaft 15 which is opposite to the coupling device 16. This rod 64 and this opening 65 transmit the rotational movement of the pinion 18 to the second shaft 15.

 The control device for moving the two rotary shafts 10 and 15 in a sliding movement parallel to the axis of rotation AA, comprises a jack V1 whose piston rod (not shown) moves in translation a fork 68 in engagement with the flange 66 of the second rotary shaft 15. The jack V1 is mounted outside the housing 20, extends parallel to the first axis of rotation AA and is housed inside the carrier 2.

 Thus, to move from the position illustrated in FIG. 7a to the retracted position illustrated in FIG. 7a, the jack V1 is controlled which, by moving the fork 68, causes the second rotary shaft 15 to slide inside the housing 20 , the rod 64 integral with the pinion 18 remaining fixed. The sliding movement of the second rotary shaft 15 causes the sliding movement of the first rotary shaft 10, the fixed key 60 moving inside the groove 61.

 In order not to oversize the housing 20 in height, it is advantageous to provide an appropriate opening at its lower wall 20a to allow the two shafts 10 and 15 to come to be housed partly inside the carrier 2. In this case , the centering sleeve 24 of Figure 2 is deleted.

 Of course, the invention is not limited to the various embodiments described above.

In particular, it is possible to supplement the equipment provided inside the housing 20 to ensure and / or control the operation of the various motor members M1, M2, M3 and M'3, if necessary, and to provide several connecting cables. 25 passing inside the hollow shaft 15 or 50 to transmit the control orders to the mission equipment. Finally, with reference to FIG. 2, it is possible to provide manual commands CMî and CM2 for controlling the two motor members M1 and M2, respectively.

Claims (16)

RKVENDICATIONS  1. Orientable support system for mission equipment mounted on a fixed or mobile carrier, of the type comprising  a plate on which the mission equipment is fixed, such as an observation, sighting and / or firing system for example, said plate being at least rotatably mounted around a first axis and pivotally mounted around d '' a second axis perpendicular to said first axis  - first means for controlling the rotation of the plate around the first axis, comprising a first hollow shaft defining said first axis, a first coupling device between the first shaft and the plate to drive the latter in rotation about the first axis , and a first device for driving the first shaft in rotation  - second means for controlling the pivoting of the plate around the second axis comprising a second shaft coaxial with the first hollow shaft, a second coupling device between the second shaft and the plate, and a second device for driving the second shaft; and  - a housing in which the aforementioned drive devices are housed, the first and second hollow control shafts protruding outside the housing to be connected to the plate by the aforementioned coupling devices,  characterized in that the second internal shaft (15,35) is hollow, and in that electrical control and power links between the mission equipment (1) and the carrier (2) pass through said second hollow shaft (15.35).  2. System according to claim 1, characterized in that the connections consist of at least one cable (25) with possible interposition of a rotary joint (25a) for example.  3. System according to claim 2, characterized in that the second hollow shaft (15) is rotated along the first axis (A-A) by the second drive device.  4. System according to claim 3, characterized in that the first rotational coupling device between the first hollow shaft (10) and the plate (6) comprises a part (11) forming a yoke integral with the first shaft 10 and which supports the plate (6) pivotally around axially aligned half-shafts (12) which materialize the second pivot axis (BB) of the plate (6).  5. System according to claim 3 or 4, characterized in that the second device for driving the second shaft in rotation (15) comprises rotation control means constituted by a motor member (M2) for driving a pinion in rotation 18 coaxial and integral with the second hollow shaft (15), and in that the second coupling device between the second hollow shaft (15) and the plate (6) comprises an angle return device (16) to transform the rotational movement of the second hollow shaft (15) in a pivoting movement of the plate (6) around the second axis (BB).  6. System according to claim 5, characterized in that the angle transmission device (16) comprises a pinion (16a) coaxial and integral with the second hollow shaft (15), and a toothed sector (16b) integral with the plate (6) and whose teeth mesh with those of the pinion (16a).  7. System according to claim 3, characterized in that the second hollow shaft (35) is driven in a sliding movement inside the first hollow shaft (10) by the second drive device.  8. System according to claim 7, characterized in that the second drive device comprises translation control means (M3) of the second hollow shaft (35) along the first axis (AA), and in that the second device coupling comprises a device (42) of the telescopic type with two elements (43,44) nested one inside the other, the first element (43) being fixed to the plate (6) in a direction perpendicular to the second axis pivot (B B), and the second element (44) being articulated on the second hollow shaft (35).  9. System according to claim 8, characterized in that the device (42) of the telescopic type is constituted by a jack whose body forms said first element (43) and whose piston rod forms said second element (44).  10. System according to claim 8 or 9, characterized in that the first coupling device between the first hollow shaft (10) and the plate (6) comprises an intermediate plate (36) mounted towards the free end of the first shaft (10) and which extends radially with respect thereto, at least one arm (37) integral with the intermediate plate (36), which extends parallel to the first axis of rotation (A A) and which ends in a link (38,39,40) of the articulated type between the arm (37) and the plate (6).  11. System according to claim 3, characterized in that it comprises a third hollow shaft (50) coaxial with the first two shafts (10,35) and housed inside the second shaft (35), the second (35) and third (50) shafts being slidably mounted and driven in translation by two control devices (M3, M'3).  12. System according to claim 11, characterized in that the first rotary coupling device between the first hollow shaft (10) and the plate (6) comprises a radial intermediate plate (51) fixed towards one end of the first shaft ( 10), a support arm (52) secured to the intermediate plate (51) and an articulated connection of the ball type (R1) mounted between said arm (52) and the plate (6), in that the second device d coupling between the second hollow shaft (35) and the plate (6) comprises a radial intermediate plate (53) fixed towards one end of the second shaft (35), a support arm (54) integral with the intermediate plate (53) and an articulated link of the ball type (R2), and in that said ball joints (R1, R2) materialize the second pivot axis (BB) of the plate (6).  13. System according to claim 12, characterized in that the third coupling device between the third hollow shaft (50) and the plate (6) comprises a radial intermediate plate (55) fixed towards one end of the third shaft (50) and a double articulated link mounted between said plates (6,55), the double link comprising a central element (56) which supports on one side, a ball joint (R3) connected to the plate (6) and, on the other side, a ball joint (R4) connected to the intermediate plate (55), and in that said ball joints (R1, R3) materialize the third pivot axis (CC) of the plate (6).  14. System according to any one of claims 1 to 6, characterized in that the first and second shafts (10,15) are also slidably mounted along the first axis of rotation (A-A) and moved in synchronism.  15. The system of claim 14, characterized in that the first rotary drive device (me, 13) of the first hollow shaft (10) also comprises a key (60) supported by the movable drive pinion (13) in a groove (61) provided on the external peripheral surface of the first shaft (10), in that the second rotary drive device (M2,18) of the second hollow shaft (15) also comprises a sleeve (63) coaxial and integral with the drive pinion (18), a rod (64) which extends said sleeve (63) and which passes through an opening (65) provided in a flange (66) integral with the second shaft (15), and in that the simultaneous movement in translation of the two rotary shafts (10,15) is ensured by a fork (F1) engaged with said flange (66) and movable by means of a jack (V1).  16. System according to any one of the preceding claims, characterized in that the housing (20) comprises connectors (C1, C2) accessible from the outside to ensure the transmission of power and control orders to the drive devices (M1, M2, M3, M'3) trees (10,15,35).