FR3002174A1 - TELESCOPIC ROTARY MOTION TRANSMISSION SYSTEM AND TELEMANIPULATOR COMPRISING AT LEAST ONE SUCH SYSTEM - Google Patents

Abstract

Telescopic system for the transmission of rotary movements comprising at least two concentric shafts, two bushes, each bushing being slidably mounted on a respective shaft, a first bushing being fixed to the external shaft, translation guiding means being provided between each shaft and the bushing mounted on this shaft, the translation guiding means being also configured to allow rotation driving from the first shaft to a rotational drive member, via the first bushing, of the outer shaft and second socket.

Description

TECHNICAL FIELD The invention relates to a telescopic system for transmitting rotary motion. BACKGROUND OF THE INVENTION This system is described here in the case of a remote handling device or telemanipulator in a nuclear environment, that is to say for the remote manipulation of irradiated elements or contaminants, in a confined cell. It can also be used in other technical fields, for example in the world of radio pharmacy, powders and explosives, fine chemistry. It is still usable for other types of machines that the remote manipulator described below, for example robots, installations on telescopic mast, for example a robot. In general, the concept is applicable to any type of mechanism requiring the use of translations and a rotation. STATE OF THE PRIOR ART In the case of telescopic manipulators, mechanical "master-slave" type wall systems are installed which are installed through a hole in the wall of a confined cell. A slave arm of the remote manipulator is in the confined cell. It comprises at its end a handling clamp mounted on an articulated intermediate subassembly called knee. The clamp is controlled in rotation, elevation and closing / opening via the toggle joint. The arm itself can be rotated about a shoulder axis and elongated by its telescopic portion. Similarly, the telescopic portion can be controlled in rotation about its own axis (this positioning movement of the telescopic portion around its own axis is called the azimuth). The movements of the arm and the clamp are usually transmitted from an operator side (also called the 'cold side') to the cell side (called 'hot side'). More specifically, a master arm, through which mechanical movement orders are provided, is operably connected to the slave arm via a wall bushing housed in the cell wall.

Most of the existing devices implement flexible mechanical transmission of movement: cables, ribbons and / or chains. This is the case in the patent application of the applicant FR2520918. In this document, mechanical motion transmissions are cables (and / or ribbons and / or chains) in the arms themselves, and are rotating shafts in the wall penetration. Attempts to replace this type of flexible transmission with rigid transmissions have been made. Thus, the patent application FR2620961 discloses a telescopic manipulator whose transmission of motion is by a set of rotating shafts and pinions. As for the application FR2520918, this device comprises a master arm, a slave arm and a wall penetration. Figure 1 of the present application shows Figure 2 of the application FR2620961, the references here being increased by the number 500. This is a sectional view of the slave arm 510 'of the remote manipulator.

The arm 510 'has a segment 513, a segment 512 and an end segment 514, or last segment. The segment 513 is articulated on a subassembly in connection with the wall penetration (not shown here), so as to be pivotable with respect to this subset. The segments 512 and 514 are movable in translation on the segment 513, thus offering possibilities of extension of the arm. At the end of the end segment 514 is a toggle lever 515 carrying the clip (not shown). The mechanical control commands are transmitted from the operator side via a set of five parallel motor shafts 564a-e (here only 564b and 564c are shown). Shafts 556a-e are each arranged in the extension of a respective motor shaft 564a-e. The role of these trees 556a-e will be detailed later.

Sockets 546a-d with sprockets are slidably mounted on the axes 556a-d (here, 546b is not shown). Each bushing 546a-d thus comprises cylindrical rollers operatively connecting it to grooves of the respective shaft 556a-d.

The bushings 546a-c are operatively connected via toothed rings to shafts 536a-c arranged in the segment 514 parallel to the shafts 556a-c (here, only 536a and 536c are shown, schematized by their longitudinal axis). The rotation of the shafts 556a-556c and the corresponding shafts 536a-536c makes it possible to control the rotation and the elevation of the clamp, as well as its clamping movement (that is to say closing and opening the clamp ). The shaft 556d allows via the sleeve 546d to rotate the inner portion 528 of the segment 514 around its own axis XX 'to ensure the positioning by azimuth. The shaft 556e controls the translation of the segment 514. Finally, the shaft 556e is connected to a mechanism which comprises a transmission member 574, a conical couple 576/578, which makes it possible to control the elongation of the arm 510 'by displacement End segment 514. In general, to improve the range and flexibility of action of a slave arm, it is desirable to increase the number of moving segments.

Nevertheless, the addition of a third mobile segment in translation on a slave arm by a parallel shaft system such as that described by the patent application FR2620961 would considerably increase the size of the device. Indeed, it is necessary to transmit five movements: three rotational movements for the clamp (elevation, rotation and closing / opening) - which correspond to the rotations of the three shafts 556a-c, a rotational movement for the rotation of the last segment around its axis (azimuth positioning) - which corresponds to the rotation of the shaft 556d, and a rotational movement to ensure the translation of the last segment (elongation of the arm by displacement of the last segment) - which corresponds to the rotation of the the 556th tree.

The invention thus aims at providing a simple alternative to existing telescopic systems which makes it possible to set in rotation a mechanical system arranged inside a telescopic assembly, for example two telescopic tubes, from an external drive, and which has a limited size, which allows the addition of additional mobile portions in translation and is transposable for example in the field of remote manipulators, robots and telescopic mast installations. PRESENTATION OF THE INVENTION The invention thus relates to a telescopic system for the transmission of rotary movements comprising at least a first shaft, a second shaft, a first bush and a second bush, the first bushing being slidably mounted on the first shaft, the second bushing being slidably mounted on the second shaft, the first shaft and the second shaft being concentric with each other, the first bushing being fixed to the second shaft, first guide means in translation being provided between the first shaft and the first bushing and second translational guiding means being provided between the second shaft and the second bushing, the first and second translational guiding means being also configured to allow a rotational drive on the one hand between the first shaft and the first bushing, and secondly between the second shaft and the second bushing, an drive being provided to allow a rotational drive from the second bushing. The system according to the invention makes it possible to ensure a rotation drive in a simple and compact manner from a motion input, with minimum clearance, while having the possibility of adding additional shafts and bushings without an excessive increase in the volume. According to an advantageous characteristic of the invention, the second shaft is arranged around at least a longitudinal portion of the first shaft when the telescopic system is in a retracted state.

According to an advantageous embodiment, the first translational guiding means comprise splines and projecting elements, the second guiding means comprising splines and projecting elements. According to an alternative embodiment, grooves of the first and second translational guiding means are provided respectively on the first and second shafts, and projecting elements of the first and second translational guiding means being formed respectively on the first and second shafts. first and on the second socket. According to advantageous features of the invention, the system comprises a first movable tubular section, the first bushing being rotatably mounted to the first movable tubular section and integral in translation with the first movable tubular section. According to advantageous features of the invention, the system comprises a second movable tubular section, the second bushing being rotatably mounted to the second movable tubular section and integral in translation with the second movable tubular section. The invention also relates to a remote handling device comprising a main tubular section fixed in translation, a first movable tubular section slidably mounted on the main tubular section, a second movable tubular section slidably mounted on the first movable tubular section, the device comprising a telescopic system as characterized above, said telescopic system forming means for transmitting rotational movements to a manipulation member that comprises the device. In the development of a wall manipulator, it is particularly sought optimization of the size to reduce the diameter of the hole in the wall. This necessity stems from the importance of minimizing radiological leakage sections in order to limit the dose rate in the operator zone. As one can easily imagine, the addition of a third shaft in parallel with each pair of trees of the state of the art (536a and 556a in Figure 1 for example) would significantly increase the size of the apparatus, to the extent that a plurality of movements is to be equipped. By dispensing with at least one rotational movement transfer gear between non-concentric parallel shafts, the remote handling device according to the invention offers a compact alternative to the existing one. This new structure allows the addition of a third movable section in translation, or more simply and without excessive increase in size. In addition, the structure used to limit the number of gears, thereby reducing the mechanical play and associated friction along the chain of motion and improves reliability. Advantageously, the first bushing is rotatably mounted to the first movable tubular section and the second bushing is rotatably mounted to the second movable tubular section.

According to an advantageous characteristic, the remote handling device comprises at least a third movable tubular section which is slidably mounted in said second movable tubular section. Advantageously, the telescopic system comprises a third shaft and a third bushing, the second bushing being fixed to the third shaft and the third bushing being slidably mounted on the third shaft. According to particularly advantageous characteristics, the device according to the invention comprises several telescopic systems forming means for transmitting rotary movements. BRIEF DESCRIPTION OF THE DRAWINGS Embodiments of the invention will now be described by way of nonlimiting examples, with reference to the accompanying drawings, in which: FIG. 1 is a sectional view of a telescopic system rotary motion transmission of the state of the art; FIGS. 2a and 2b are diagrammatic representations of an exemplary embodiment of a telescopic rotary motion transmission system according to the invention in a retracted state and in an expanded state respectively; - Figure 3a shows the central portion of a variant of the telescopic system of Figure 2a, along the arrow III; FIG. 3b is a perspective view of the elements of FIG. 3a; FIG. 4 is a perspective view of a first embodiment of a telescopic slave arm of a remote handling apparatus according to the invention; FIG. 5 is a partial longitudinal sectional view of an example of a telescopic system according to the invention; FIG. 6 is a perspective view of the elements of FIG. 5; - Figure 7 is a perspective view of a second embodiment of a telescopic slave arm of a remote handling device according to the invention. DETAILED DESCRIPTION OF PARTICULAR EMBODIMENTS FIGS. 2a and 2b illustrate the general structure of a telescopic system 10 according to the invention, respectively in a retracted state (FIG. 2a) and in an expanded state (FIG. 2b). By 'telescopic system' is meant a variable length system having a plurality of interlocking elements slidable along a longitudinal axis between a retracted state and an expanded state. FIGS. 4 to 6 illustrate the use of a telescopic system 110a similar in principle to the system 10 in the telescopic slave arm 115 of a manipulator 100. A second remote manipulator 300 is finally illustrated in FIG. 7. The telescopic system 10 (FIG. Figures 2a and 2b) of longitudinal axis X0 comprises a central portion 10a, a variant is shown only in Figures 3a and 3b. The central portion 10a has a first shaft 21, or internal shaft, a second shaft 22, or external shaft, and two bushings 31 and 32. In addition to this central portion 10a, the system 10 comprises a main tube 40 and two movable tubes. 41 and 42 described below (Figures 2a and 2b). The internal shaft 21 is here full and of circular general outer section (Figures 2a, 2b, 3a and 3b). The shaft 21 has at its upper end a chin 27 for connecting it to a driving part (not shown), for example by means of a pinion or a cardan or other non-mechanical connection system. represented. The outer shaft 22 is hollow and of circular general outer section.

It is arranged around at least a portion of the length of the inner shaft 21 (Figure 2a, 2b, 3a and 3b). Both shafts 21 and 22 here comprise splines 23 extending longitudinally over at least part of their length. In the embodiment shown, the grooves 23 are of square cross-section and are four in number per shaft 21 or 22, as the grooves 23 of the shaft 21 shown in FIG. 3. These grooves 23 are straight and arranged on the around the respective shaft 21 or 22, at 90 degrees from each other. The first bushing 31 is fixed at the end of the second shaft 22 and is slidably mounted on the first shaft 21. The first bushing 31 here comprises translational guiding elements 24 with respect to the first shaft 21, which are here rollers, each maintained by a retaining washer 26 mounted on the sleeve 31 (Figures 3a and 3b). The second bushing 32 is slidably mounted on the second shaft 22. The second bushing 32 here comprises projecting guiding elements 25 in translation relative to the second shaft 22, here rollers. Each of the rollers 25 is held inside the bushing 32 by a retaining washer 34 mounted on the outside of the bushing 32 (FIGS. 3a and 3b). Alternatively, the rollers are mounted directly on the sleeve, without holding washer. Preferably, each roller turns on itself around a proper axis. Alternatively, the rollers are replaced by fixed pads.

The rollers 24 and 25 are each arranged in a groove 23 corresponding. The rollers 24 and 25 have a size and an arrangement adapted to the characteristics of the corresponding grooves 23 to be able to slide with dry friction. In the example shown, the rollers 25, located on the outer shaft 22 are of identical diameters to the rollers 24 and the retaining washers 26 and 34 are of identical diameters. In a variant not shown, the rollers 24 and 25 are of different sizes, and / or the holding washers are of different sizes. Each sleeve 31 or 32 here has two rollers 24 or 25 by groove 23. This arrangement allows a longitudinal displacement of the sleeve 31 or 32 on the corresponding shaft 21 or 22 without parasitic play in a direction perpendicular to the longitudinal direction of the system 10 or in rotation about an axis perpendicular to the longitudinal direction of the system 10. The nesting of the shafts 21 and 22 as described above advantageously replaces a gear mechanism to achieve a rotational drive, thus making it possible to substantially limit on the one hand the mechanical games, on the other hand the clutter. The number, shape and distribution of splines 23 and translation guide elements 24 and 25 may vary depending on the forces to be transmitted. There may be more or less four flutes 23, for example three or five. There may be more or less than two guide elements in translation by spline, for example one, three, four or more. In addition, the number of rotating guide elements may differ from one groove to another. In a variant that is not shown, the grooves 23 are generally circular section grooves and the translation guide elements with which they cooperate are balls. Other variants not shown implement grooves trapezoidal section (or still different geometry) cooperating with corresponding translation guide elements which, more generally, jointly allow minimal clearances. Preferably, the friction between translation guide elements and the grooves are dry. Alternatively, a lubricant is used, i.e. the friction is viscous. The flutes 23 may be distributed differently around the periphery of the shafts, for example asymmetrically, at non-identical angles and / or at angles other than 90 degrees. In a variant that is not shown, translation-guiding projecting elements such as the rollers are mounted on the shafts while corresponding grooves are provided inside the bushes. This variant is particularly interesting when the efforts to be transmitted are low, for example in the case of robotic microsystems. The shafts 21 and 22 may alternatively have a non-circular section, for example oval or square (not shown here). As can be seen in FIGS. 2a and 2b, the shaft 21 is mounted fixed in translation in the main tube 40 and free to rotate through a bearing 50.

In the example shown, the main tube 40 is not mobile itself in translation. In the case of a manipulator, the main tube 40 can be fixed to a ceiling or a confined cell wall or a mobile system type "overhead crane", or articulated to rotate on a shoulder axis of a crossing wall. For example, in the case of remote manipulators 100 and 300 described below with reference to FIGS. 4 and 7, the tubes 140 and 340 are rotatably articulated on a respective axis 114 or 314. In the case of other types of machines, the main tube 40 can be fixed to a fixed frame, or to a machine part controllable in rotation about an axis perpendicular to the longitudinal direction of the tube 40.

The first movable tube 41 is mounted on the sleeve 31 via a bearing 51. The sleeve 31 is thus fixed in translation and rotatable in the tube 41. The second mobile tube 42 is here mounted on the sleeve 32 through a bearing 52. The sleeve 32 is thus fixed in translation and rotatable in the tube 42.

Thus arranged, the movable tube 41 slides in the main tube 40 and the movable tube 42 slides in the movable tube 41. In general, the tubes 40 to 42 are rotatable about the central portion 10a. In other words, the central portion 10a is rotatable relative to the tubes 40 to 42. Note that in the example described in Figures 2a, 2b and 3b, the central portion 10a and the tubes 40 to 42 are coaxial according to the longitudinal axis Xo. This characteristic is not limiting as we will see later. In the embodiment shown in Figures 2a and 2b, a ring gear 33a is fixedly mounted on the sleeve 32 (Figures 2a and 2b). The ring 33a is here of outer diameter greater than that of the sleeve 32. The ring 33a is engaged by means of a pinion (not shown here) with a rotatable shaft which is arranged downstream (not shown). Any rotation applied to the shaft 21 from a not shown driving portion located upstream will thus be transmitted to the shaft downstream of the ring 33a via the rollers 24 and 25, the grooves 23, the sleeve 31, the shaft 22 and the sleeve 32. As a variant of the ring gear 33a, the ring gear 33b shown in FIGS. 3a and 3b has a smaller outer diameter. Alternatively, another drive member or other drive systems may be used instead of the rings 33a or 33b, for example a chain, belt, etc. system. In the case of weak forces, the drive is carried out by direct friction, for example by direct contact of the bushing 32 on a shaft located downstream. An example of a remote manipulator 100 illustrated in FIG. 4 incorporating a telescopic system is now described. The telescopic system 110a visible in Figures 5 and 6 is an example. The manipulator 100 is installed through a hole 112 formed in a wall 111. The manipulator 100 comprises a telescopic slave arm 115 extending along a longitudinal axis X1.

In the embodiment shown, the arm 115 has a main section 240 and two successive lower sections 241 and 242. The sections 241 and 242 are movable in translation with each other and with respect to the main section 240.

The arm 115 is operatively mounted on an end section 113 of a telemanipulator wall penetration. More specifically, the section 240 is rotatably articulated via a shoulder axis 114 on the section 113. In alternative embodiments not shown of remote manipulators, the main section can be attached directly to a confined ceiling or cell wall or a system. as an overhead crane, or articulated to rotate on the shoulder axis of a wall penetration fixed to the ceiling. The main section 240 comprises a main tube 140; the sections 241 and 242 respectively comprise a movable tube 141 and 142. A handling clamp 116 is articulated on a toggle joint 117 which is disposed at the end of the movable section 242, that is to say at the end of the opposite arm 115 to the axis 114. We now describe in support of Figures 5 and 6 the telescopic system 110a rotary motion transmission that includes the arm 115. Here, the system 110a extends along a longitudinal axis X2 parallel to the general orientation X1 of the arm 115.

The telescopic system 110a is functionally similar to the central portion 10a of the system 10 described above with reference to Figures 2a, 2b, 3a and 3b. The components of the telescopic system 110a have thus been assigned the references of the components of the part 10a increased by the number 100. In the embodiment shown in FIGS. 5 and 6, the telescopic system 110a comprises a first splined shaft 121, or internal shaft, a second splined shaft 122, or external shaft and two sockets 131 and 132. The terms "internal" and "external" are to be understood here as defining the shafts 121 and 122 with respect to each other and not with respect to tubes 140 to 142.

The internal shaft 121 is here full and circular general outer section. The shaft 121 has at its upper end a chin 127 for securing it in rotation to an upstream driving part (not shown). The outer shaft 122 is hollow and of circular general outer section. It is concentric with the inner shaft 121 and is disposed around at least a portion of the length thereof. Both shafts 121 and 122 have grooves 123 for at least part of their length. Here, the grooves 123 are of square section and are four in number per shaft 121 or 122, as the grooves 123 of the shaft 121 visible in FIGS. 5 and 6. These grooves 123 are straight and arranged around the periphery of the respective shaft 121 or 122, at 90 degrees from each other. The first bushing 131 is fixed at the end of the second shaft 122 and is slidably mounted on the first shaft 121. The first bushing 131 here comprises translational guiding elements 124 relative to the first shaft 121, which are here rollers, each maintained by a holding washer 126 mounted on the sleeve 131. The second bushing 132 is slidably mounted on the second shaft 122. The second bushing 132 here comprises translational guiding elements 125 relative to the second shaft 122, here pebbles . Each of the rollers is held inside the sleeve 132 by a retaining washer 134 mounted on the sleeve 132. The rollers 124 or 125 are each arranged in a corresponding groove 123. They have a size and an arrangement adapted to the characteristics of the corresponding grooves 123. In the example shown, the rollers 125, located on the outer shaft 122 have the same diameter as the diameter of the rollers 124 and the washers 126 and 134 are of diameters identical to each other. Each sleeve 131 or 132 here has two rollers 124 or 125 by groove 123, which allows a longitudinal displacement of the sleeve 131 or 132 on the corresponding shaft 121 or 122 without parasitic play in rotation about an axis perpendicular to the direction longitudinal X2 of the system 110a. The sliding of the rollers 124 and 125 in the grooves 123 is effected by dry friction. The interlocking of the shafts 121 and 122 as described above advantageously replaces a gear mechanism to enable a rotation drive, thus making it possible to substantially limit the mechanical clearances. The number, shape and distribution of splines 123 and translation guide elements 124 and 125 may vary depending on the forces to be transmitted. There may be more or less four flutes 123, for example three or five. There may be more or less than two guide elements in translation by spline, for example one, three, four or more. In addition, the number of rotating guide elements may differ from one groove to another. In a variant not shown, the grooves 123 are grooves of generally circular section and the translational guide elements with which they cooperate are balls. Other variants not shown implement grooves trapezoidal section (or still different geometry) cooperating with corresponding translation guide elements which, more generally, jointly allow minimal clearances. Preferably, the friction between translation guide elements and the grooves are dry. Alternatively, a lubricant is used, i.e. the friction is viscous. The grooves 123 may be distributed differently around the periphery of the shafts, for example asymmetrically, at non-identical angles and / or at angles other than 90 degrees. The shafts 121 and 122 may alternatively have a non-circular section, for example oval or square (not shown here). The shaft 121 is mounted fixed in translation in the main tube 140 via a bearing (not shown but similar to the bearing 50 of the telescopic system 10). This bearing provides a degree of freedom in rotation of the shaft 121 vis-à-vis the tube 140. Here, the sleeve 131 is mounted on a bottom of the first movable tube 141 via a bearing 151 visible in Figure 5. The sleeve 131 is thus fixed in translation and rotatable in the tube 141.

The sleeve 132 is mounted on a bottom of the second mobile tube 142 via two bearings 152. The sleeve 132 is thus fixed in translation and rotatable in the tube 142. Thus arranged, the movable tube 141 can slide in the main tube 140 and the movable tube 142 can slide in the movable tube 141. A ring gear 133b is fixedly mounted on the sleeve 132 (Figures 5 and 6). The ring gear 133b meshes with a pinion 229, itself fixedly fixed in translation and rotatable on the bottom of the movable tube 142 by means of a bearing 250. Thus arranged, the axial spacing between the sleeve 132 and the pinion 229 is maintained.

The pinion 229 is integral in translation and in rotation with a shaft 221 disposed downstream. The pinion 229 is here made of a piece with the shaft 221, coaxially along a longitudinal axis X3 parallel to the axes X1 and X2. Any rotation applied to the socket 132 via the system 110a will thus be transmitted to the shaft 221. Several telescopic systems similar to the system 110a can be arranged side by side and arranged in a similar or identical manner in a remote manipulator arm to control a end clamp of the type of the clamp 116 in elevation, rotation and closing / opening. The manipulator 100 described herein may comprise five system-type telescopic systems 110a, each connected to a drive shaft of the type of the axes 564a-e.

A telemanipulator comprising several telescopic systems of the type of 10a, each operating a separate device is not beyond the scope of the present invention. In addition, a remote manipulator comprising one or more telescopic systems of the type of 10a and one or more telescopic systems of the state of the art also does not depart from the scope of the present invention. The outer shaft 122 is attached at its opposite end to the sleeve 131 rotatably for example directly to an end plate of the tube 142 through a bearing not shown.

The elongation of the arm 115 by translation of the movable sections 241 and 242 is controlled by a system not shown, for example of the rack and pinion type. Moreover, here, among the movable sections 241 and 242, only the end section 242 is rotatable about the longitudinal direction of the arm 115. In a more general manner, the variants of the system components 10a can be transposed to the system 100a. The manipulator 300 shown in FIG. 7 repeats the general principle of the remote manipulator described with reference to FIGS. 4 to 6.

The components of the remote manipulator 300 have been assigned the references of the analogous components of the telemanipulator 100 plus the number 200. The remote manipulator 300 is different from the remote manipulator 100 in that it has an additional movable section. Thus, the slave arm 315 of the remote manipulator 300 has a main section 440 and three lower sections 441 to 443. The sections 440 to 443 each comprise a respective tube 340 to 343. The section 440 is articulated to rotate via a shoulder axis 314 at an end section 313 of a wall penetration. A handling clamp 316 is articulated on a toggle joint 317 disposed at the end of the movable section 343, that is to say at the end of the arm 315 opposite to the axis 314. The manipulator 300 incorporates a telescopic mechanism (not shown ) of the same principle as the systems 10a and 110a. An internal telescopic mechanism 300 comprises for example an additional shaft, that is to say a third shaft. This is concentric with the other two and mounted around a shaft such as the shaft 122 so as to partially surround it in a retracted state. The mechanism further includes an additional socket, i.e. a third socket, which is mounted around the third shaft. The third bushing has a drive member similar to the ring gear 33a or its alternatives described above.

In unrepresented variants of the manipulator, the number of movable sections nested within each other is greater than three. The telescopic system is particularly advantageous for the realization of telemanipulator, including remote manipulators used in the nuclear field. But it will be understood that the telescopic system can be implemented in any device requiring a variable length system and the transmission of a rotational movement.

Claims (11)

REVENDICATIONS1. Telescopic system for the transmission of rotary movements comprising at least a first shaft, a second shaft, a first bush and a second bush, the first bushing being slidably mounted on the first shaft, the second bushing being slidably mounted on the second shaft, the first shaft and the second shaft being concentric with each other, the first bushing being fixed to the second shaft, first translational guiding means being provided between the first shaft and the first bushing and second guide means in translation. being provided between the second shaft and the second bushing, the first and second translational guiding means also being configured to allow a rotation drive on the one hand between the first shaft and the first bushing, and on the other hand between second shaft and the second sleeve, a training member being provided to allow a go in rotation from the second bushing. 2. telescopic system according to claim 1, the second shaft being disposed around at least a longitudinal portion of the first shaft when the telescopic system is in a retracted state. 3. Telescopic system according to one of claims 1 or 2, the first translational guide means having splines and projecting elements, the second guide means having splines and projecting elements. 4. Telescopic system according to one of claims 1 to 3, splines of the first and second guide means in translation being formed respectively on the first and the second shaft, and projecting elements of the first and second guide means. in translation being formed respectively on the first and the second sleeve. 5. Telescopic system according to one of the preceding claims, comprising a first movable tubular section, the first sleeve being rotatably mounted relative to the first movable tubular section and integral in translation of the first movable tubular section. 6. Telescopic system according to the preceding claim, comprising a second movable tubular section, the second bushing being rotatably mounted relative to the second movable tubular section and integral in translation with the second movable tubular section. 7. Remote handling device comprising a main tubular section fixed in translation, a first movable tubular section slidably mounted on the main tubular section, a second movable tubular section slidably mounted on the first movable tubular section, the device comprising a telescopic system according to one of claims 1 to 6, said telescopic system forming means for transmitting rotational movements to a manipulation member that comprises the device. 8. Remote handling device according to the preceding claim, the first bushing being rotatably mounted relative to the first movable tubular section and the second bushing being rotatably mounted relative to the second movable tubular section. 9. Remote handling device according to one of claims 7 or 8, comprising at least a third movable tubular section which is slidably mounted in said second movable tubular section. 10. Remote handling device according to claim 9, the telescopic system comprising a third shaft and a third bushing, the second bushing being fixed to the third shaft and the third bushing being slidably mounted on the third shaft, the third bushing being rotatably mounted relative to to the third movable tubular section. 11. Remote handling device according to one of claims 7 to 10, comprising several telescopic systems forming means for transmitting rotary movements.