EP3010733A1

EP3010733A1 - Ground contacting module and vehicle using at least one ground contacting module

Info

Publication number: EP3010733A1
Application number: EP14739062.9A
Authority: EP
Inventors: Bernard Mouton
Original assignee: Techni-Metal Systemes
Current assignee: Techni-Metal Systemes
Priority date: 2013-06-19
Filing date: 2014-06-18
Publication date: 2016-04-27
Also published as: FR3007328A1; WO2014202693A1; FR3007328B1

Abstract

The present invention relates to a ground contacting module designed to support at least part of a vehicle chassis, comprising a yoke (5) secured to the chassis and at least one wheel (1) allowing the movement of said vehicle, at least one wheel of the module being made mobile by motor means (2), the position of the axis of each wheel of the module being movable relative to the ground and the chassis at least by steering means (31), each wheel (1) of the module being secured to a suspension beam (4) which in turn is secured on the one hand to the yoke (5), and on the other hand to suspension means (40) secured to the chassis or the yoke (5), such that each wheel (1) is movable in a vertical direction, substantially perpendicular to the plane of the chassis, independently of the position and/or movement of the other wheels of the vehicle irrespective of whether they are part of said module; each wheel (1) of the module being designed to be tiltable such that the angle formed between the axis (x) of a wheel and a plane parallel to the plane of the chassis, called incline angle, is different from 0[π]; the ground contacting module being secured to measuring and control means controlling at least the motor means (2), the steering means (31), the suspension means (40) and the means for tilting the wheels of the module.

Description

Ground link module and vehicle using at least one ground link module

TECHNICAL FIELD OF THE INVENTION

The present invention relates to a wheel module used for the construction of vehicles, and such a vehicle or vehicle.

BACKGROUND OF THE INVENTION

In a manner known per se, and particularly in large or specialized yards, some tasks for example involve the transport of large loads. Thus building materials are transported in tunnels under construction by specially designed special vehicles. Such devices can for example be used to transport heavy loads securely inside a construction site, the point of storage and / or manufacture of materials to their final location.

It is known from the prior art such machines, mostly made in very small series or on command. These vehicles are built from a chassis supported by at least one set of wheels. A wheel train is moreover generally designed in the form of a bridge or central clevis, this bridge being arranged under a frame so as to support it at least in part. Such a bridge is a set of several wheels distributed on both sides of the frame. These wheels themselves are carried by a structure movable relative to the chassis, this structure including wheel drive elements, directional elements and resilient damping elements ensuring the suspension so as to avoid transmitting to the chassis the forces due to shaking. caused by the irregularity of the soil.

It is also known from the prior art such vehicles in addition to the constraints imposed by some sites. Indeed, it is sometimes necessary to transport heavy loads via passages of limited dimensions, especially during the construction of tunnels. These Vehicles can therefore carry heavy loads while maintaining low external dimensions, for example by positioning the frame as low as possible to make the most of the vertical space available. US 3,314,690 and US 3,302,739 disclose a ground link module supporting a portion of the chassis of a vehicle for transporting deformable ores. This module comprises in particular suspension means regulating the deformation of the structure of the module. However, these suspension means do not allow damping oscillations of the chassis, and the suspension of a wheel is dependent on the suspension of a wheel of the same module.

Patent EP 1, 340, 670 discloses a ground connection module supporting all or part of a vehicle chassis or construction equipment, this module comprising one or more wheels for moving all or part of this vehicle. The ground connection module has suspension means ensuring the displacement of a wheel relative to the chassis independently of the state of the other wheels of the vehicle and by articulation of an arm supporting the wheel along an axis parallel to the main beam chassis or the longitudinal axis of the chassis. However, this vertical movement of the wheels induces a displacement of the wheels to the outside which is even larger than the clearance is important and which causes a loss of space which must be taken into account in narrow places such as tunnels.

GENERAL DESCRIPTION OF THE INVENTION

The present invention therefore aims to provide a ground connection module, to overcome one or more of the disadvantages of the prior art. The invention proposes a ground connection module comprising suspension means ensuring the displacement of a wheel relative to the chassis independently of the state of the other wheels of the vehicle, without requiring additional operating space. To this end, the invention relates to a ground connection module, intended to support at least a portion of a vehicle frame, comprising a clevis secured to the frame and at least one wheel for moving said vehicle, at least one wheel module being made mobile by motorization means, the position of the axis of each wheel of the module being movable relative to the ground and the chassis at least by turning means, characterized in that:

Each wheel of the module is made integral with a suspension beam itself secured to one side of the yoke, and on the other hand suspension means secured to the frame or the yoke, so that each wheel is displaceable in a vertical direction, substantially perpendicular to the plane of the chassis, regardless of the position and / or displacement of the other wheels of the vehicle which may or may not be part of said module; Each wheel of the module is intended to be tilted so that the angle formed between the axis of a wheel and a plane parallel to the plane of the frame, said angle of inclination, is different from 0 [π]; the ground connection module being made integral with measuring and control means controlling at least the drive means, the steering means and the suspension means.

According to another feature, the ground connection module is characterized in that each wheel is mounted by a pivot connection on a rocket called wheel flare, the wheel flare being mounted by a pivot connection on the corresponding suspension beam, the rocket being movable in rotation along a substantially vertical axis of direction, this rotation of the rocket being provided by a so-called steering jack cylinder connected to an arcuate portion of the rocket and the suspension beam, the steering cylinder being controlled by the measuring and control means. According to another feature, the ground link module is characterized in that the rocket is rotatable along a substantially vertical axis of direction, independently of the other rockets of the module.

According to another particularity, the ground link module is characterized in that the fuse is either free in rotation, or made integral with the motorization means controlled by the measuring and control means, ensuring the rotation of the wheel mounted on the rocket around the wheel axle.

According to another feature, the ground link module is characterized in that the suspension beam is mounted by a pivot connection on the yoke, the suspension beam being rotatable along an axis parallel to the plane of the frame, so that the wheel is movable in a vertical direction.

According to another feature, the ground connection module is characterized in that it comprises means for adapting the geometry of the wheels of the ground connection module according to the space available around the vehicle.

According to another feature, the ground connection module is characterized in that the movement of the suspension beam is controlled by the variation in length of a suspension cylinder mounted by a pivot connection to the frame or the yoke, this cylinder of suspension controlled by the measuring and control means providing a control of the height of the suspension under the action of a pressurized fluidic circuit comprising at least one hydraulic accumulator provided with adjustable valves according to a pressure law defined by the user and integrated in the measuring and control means. According to another particularity, the ground connection module is characterized in that the module is a two-wheel axle, each suspension cylinder is secured to a suspension balance on the one hand and on the other hand to the chassis .

According to another particularity, the ground link module is characterized in that the module is a four-wheeled bogie whose each cylinder of suspension is made integral on the one hand with a suspension beam and on the other hand with the yoke, the yoke being made integral with the chassis of the vehicle.

According to another particularity, the ground connection module is characterized in that the drive means operate under the action of a fluid under pressure or an electric current.

According to another particularity, the ground link module is characterized in that it comprises a wheel direction control angle calculation device of the module, said device being controlled by the measuring and control means and allowing coordinating the steering of all the wheels of the module according to the steering data of the module transmitted to the angle calculating device by the control means

Another object of the invention is to propose a vehicle comprising at least one steered wheel set composed of at least one ground connection module, the modules comprising at least two wheels arranged on either side of the chassis of the vehicle. and including a steering function, with for each module a steering control angle between a vertical plane perpendicular to the plane of the suspension beam and the axis of rotation of the wheel of the selected module so that during the steering of a train, the The axes of the wheels of the modules of the same train define a determined point, called the turning center, by the intersection of their vertical projection on the ground.

According to another feature, the vehicle is characterized in that the steering angle of the wheels of the vehicle is adjusted by the measuring and control means via the angle calculation device of each ground connection module, the means of steering ensuring the rotation of the fuzes along a substantially vertical axis of direction so that the turning centers of all the wheels are substantially merged.

According to another feature, the vehicle is characterized in that it comprises at one of its ends at least one set of steering wheels forming a bogie, the arc-shaped portion of a rocket of an axle being connected at the arcuate portion of a rocket of the other axle by a steering means, the two rockets connected by this steering means being in facing relation, said steering means comprising a rocker secured to the yoke and two drawbars, each drawbar being mounted on the balance and on the bow-shaped portion of a rocket by pivot links, the link between the flares vis-à-vis ensuring coordination of the steering of the train.

According to another feature, the vehicle is characterized in that at least one wheel axle comprises a transverse direction bar connected to the axle flares by pivot links. According to another feature, the vehicle is characterized in that the vehicle comprises at least two cabins or control stations, each of these cabs comprising the measuring and control means of all the vehicle's ground link modules.

According to another feature, the vehicle is characterized in that the vehicle comprises at least two cabins or control stations, each of these cabs being able to separately control a portion of the vehicle modules or wheel sets.

The invention, with its features and advantages, will emerge more clearly on reading the description given with reference to the appended drawings in which:

Figure 1 illustrates a ground connection module according to the invention in the form of an axle, seen in perspective.

FIG. 2 illustrates a ground connection module according to the invention in the form of a bogie, viewed from above in perspective. FIG. 3 illustrates a ground connection module according to the invention in the form of a bogie, viewed from below in perspective.

Figure 4 illustrates an exploded view of a ground link module as a wheel axle. Figure 5 illustrates a ground link module seen from the front, showing the wheel tilt function.

DESCRIPTION OF THE PREFERRED EMBODIMENTS OF

THE INVENTION

With reference to Figures 1 to 5, the invention will now be described.

In one embodiment, the ground link module according to the invention, intended to support at least a portion of a vehicle chassis, comprises a steering function, a suspension function, a braking function, a function of motorization and a tilt function.

In one embodiment, for example and without limitation, the ground connection module comprises two wheels (1) so as to form a wheel axle. In an alternative embodiment, for example and without limitation, the ground connection module comprises four wheels so as to form a bogie. Of course, without departing from the spirit of the invention, other configurations of modules are possible, the modules may for example and without limitation include indifferently an even or odd number of wheels (1).

In one embodiment, a ground link module therefore comprises at least one wheel (1), for example in the form of a tire mounted on a rim according to a method known to those skilled in the art. This rim is movable in rotation about a wheel axis (x) and is fixed to a wheel spindle (3), according to means known to those skilled in the art, for example by a pivot connection. The rotation of the wheel can be braked and / or stopped by braking means, for example and without limitation by means of a disk brake or a drum brake.

In one embodiment, the drive function of the module is provided by a hydraulic motor (2) of a known type, mounted on at least one wheel spindle (3), the motor driving the rotation of the rim mounted on the rocket (3). For example and without limitation, a single wheel of the module can be motorized, the other wheels then being mounted on free flares. The hydraulic motor is supplied with pressurized fluid via a plurality of flexible circuits from a hydraulic circuit pressurized by known means. In an alternative embodiment, other types of motors are used, for example and without limitation pneumatic motors or electric motors mounted directly on the ground connection module.

Each wheel rocket (3) of the module, whether it is driving or not, is secured to a suspension beam (4) by means known to those skilled in the art, for example by means of a pivot connection. This suspension beam (4) is itself secured to a central clevis (5) for example by means of a pivot connection, so that the suspension beam (4) can have a movement around the link pivot about an axis parallel to the vehicle frame. The presence of such suspension balances (4) therefore allows the movement of the wheels in a vertical direction (y), thus ensuring the suspension function of the ground connection module.

In one embodiment, each suspension beam (4) of the module is secured to suspension means (40), for example and without limitation a suspension cylinder (40). According to the configuration of the ground connection module, each suspension cylinder is secured to either the central clevis (4) of the module (this will be the case for example if the ground connection module is a bogie), or the chassis of the vehicle (this will be the case for example if the ground link module is a wheel axle). In an alternative embodiment, when the connection module is a bogie, a suspension cylinder (40) can be secured to two suspension beams (4) located opposite each other on either side of the beam. central clevis (5), said cylinder (40) thus controlling the suspension of the two wheels (1) located vis-à-vis on either side of the central yoke (5). In all cases, each suspension cylinder (40) is secured to a suspension beam (4) and the clevis (5) and / or the frame for example by means of a pivot connection. It is interesting to note that, each wheel (1) of the module being integral with a single rocker (4) and each rocker being integral with a single suspension means (40), each wheel of the module is movable in a vertical direction (y) regardless of the position and / or movement of the other wheels of the vehicle, whether they belong to the same link module or not.

In one embodiment, the steering function of the ground connection module is ensured by the rotation of the flares (3) of a wheel set (1) of said module. To do this, the wheel spindle (3) is rotatable about a substantially vertical axis, causing the wheel axis (x) to move in a plane parallel to the chassis. To ensure the rotation of the rocket along a vertical axis (y), said rocket (3) is made integral at one of its ends (30), for example arc-shaped, turning means (31) , For example and without limitation a jack said steering cylinder (31). The steering cylinder is also made integral, for example via a pivot connection, the suspension beam (4) itself secured to the rocket (3). In a preferred embodiment, these steering cylinders (31) are placed under the central yoke (5) of the link module, in order to gain the maximum space by ensuring the lowest possible height for the link module.

In one embodiment, the ground connection module is made integral with measuring and control means controlling, in particular and in a nonlimiting manner, the drive means (2) of the wheels, the turning means (31) of the wheels and the suspension means (40). In one embodiment, just as the motorization means

(2), the steering means (31) and suspension (40) are supplied with fluid under pressure via a plurality of flexible circuits from a hydraulic circuit pressurized by known means. For example and without limitation, the hydraulic circuit comprises at least one accumulator, for example hydraulic. As a reminder, such an accumulator is a reservoir under fluid pressure that can contain a variable volume of a pressurized liquid, used to provide a high flow rate for a given time, but also a small flow, as long as there is pressure in the accumulator. The accumulator is also provided with adjustable valves for delivering to each element connected to the hydraulic circuit a fluid pressure sufficient to allow the element in question to perform the desired action. The measuring and control means comprise at least means for measuring the hydraulic pressure, comprising at least one barometer. The measuring and control means make it possible to control the accumulator and the valves, in order to deliver to each element connected to the hydraulic circuit the hydraulic pressure requested by the user, for example directly or according to a pressure law made by the user and integrated in the measuring and control means. In this case, the measuring and control means comprise storage means.

In one embodiment, when the user wants to obtain the steering of a wheel set, the measuring and control means controls the elongation and / or the shortening of at least one steering cylinder (31), inducing thus the rotation of the corresponding rocket (3) along a vertical axis (y). For example and preferably, the two rockets (3) of a wheel axle are each integral with a steering cylinder (31) controlled by the measuring and control means. In one embodiment, the two axles (3) of a wheel axle are connected by a transverse bar (33) by pivot connection. This bar (33) is particularly useful in the case where only one of two rockets (3) is integral with a steering cylinder (31), since the crossbar is used to couple the steering angle of the first wheel of the train on the second wheel. This embodiment is in no way limiting, and a crossbar (33) can also be present if the two fuzes (3) are each connected to a steering cylinder (31).

In one embodiment of the bogie-shaped wheel module (1), the arc-shaped portion (30) of a stub axle (3) is connected to the arc-shaped portion of the axle. rocket of the other axle by a steering means (32), the two rockets (3) connected by this steering means (32) being vis-à- screw on both sides of the central screed (5). For example, the steering means comprises a rocker (320) secured to the yoke, and two drawbars (321). Each end of a drawbar (321) is mounted, for example by means of pivot connections, firstly on the balance (320) and secondly on the arcuate portion (30) of a rocket (3). This steering means is particularly useful in the case where only one of two rockets (3) is integral with a steering cylinder (31), since the rocker (320) and the drawbars (321) allow to couple the angle of turning a wheel of the first axle on a wheel of the second axle of the bogie. This embodiment is in no way limiting, and this steering means (32) can also be present if the flares (3) are each connected to a steering cylinder (31).

In one embodiment, the ground link module comprises an angle calculation device (6) controlled by the measuring and control means. This angle calculation device (6) makes it possible to coordinate the deflection of all the wheels (1) of the ground connection module, as a function of the steering data transmitted from the measuring and control means to the computing device. angles (6).

In one embodiment, the movements of the suspension balances (4) are controlled by the variation in the length of suspension cylinders (40), thus achieving a control of the height of the suspension under the action of the hydraulic circuit. This ensures the suspension function of the ground link module. Such a function is necessary in the context of transporting heavy loads on vehicles. It allows in particular not to pass the imperfections of the road to the rest of the chassis of the vehicle, and ultimately maintain the trim of the vehicle. The measuring and control means therefore control the variation in length of the suspension cylinders (40) as a function of the imperfections of the ground encountered during the movement of the vehicle. In one embodiment, the hydraulic pressure supplied to the cylinders (40) by the accumulator depends on the load borne by the vehicle: the heavier the vehicle, the greater the pressure delivered to the cylinders (40), to ensure both the control of the trim of the vehicle and a suspension flexible enough not to pass on the chassis imperfections soil. The presence in the hydraulic circuit of adjustable valves between the accumulator and a suspension cylinder allows, as a function of the pressure law subjected by the measuring and control means, the management of the hydraulic pressure distributed to each suspension cylinder ( 40). These pressure laws can be programmed at the factory according to the load borne by the vehicle, or directly programmed by the user of the vehicle.

In one embodiment, the ground link module also comprises a wheel inclination function, said link module comprising means for adapting the geometry of the wheels of the ground link module according to the space available around the ground. vehicle. For example and in a nonlimiting manner, each wheel (1) of a ground link module comprises arrangements allowing the inclination of said wheel along an axis perpendicular to the axis (x) of the wheel and substantially parallel to the ground on which it rests. Thus, the angle (A) existing between the axis (x) of the wheel and a plane parallel to the vehicle frame, said angle of inclination (A), is different from the value 0 [π].

In a preferred embodiment, the inclination of the wheels is achieved once and for all in the factory, the angle of inclination (A) being determined by the user according to the needs of use of a vehicle comprising the wheels according to the invention. Once the angle of inclination chosen, all the rims of the module are welded, screwed or riveted to the rockets (3). The possibility of tilting the wheels of at least one ground connection module allows, for example and without limitation, to particularly adapt vehicles with such ground connection modules to the traffic in narrow tunnels.

A further object of the invention is to propose a vehicle comprising at least one ground connection module according to the invention. In one embodiment, such a vehicle comprises at least one steering wheel set composed of at least one wheel module according to the invention, the wheel module comprising at least two wheels (1) located on either side of the vehicle chassis. In one embodiment, the vehicle comprises two cabins or control stations located at the ends of the vehicle. Preferably, these cabins comprise measuring and control means for controlling all of the steering wheel modules of the vehicle. Each of these cabins is also able to order separately a part of the modules or wheel sets of the vehicle.

In one embodiment, all of the vehicle wheel modules include at least one suspension function, a tilt function, and a steering function, and at least one wheel module includes a drive function. In one embodiment, each wheel axle of the ground-connected modules is made according to an outline ensuring the vehicle a steering where the axes (x) of the wheels intersect in the same turning center. To do this, the measuring and control means adjust the steering angle of each wheel (1) of the vehicle, via the angle calculation device (6) of each ground link module. The measuring and control means then control the turning means (31) of each steering wheel so as to ensure the rotation of the rockets (3) along a substantially vertical direction axis (y), the steering centers of the assembly. wheels then being substantially merged.

The present application describes various technical features and advantages with reference to the figures and / or various embodiments. Those skilled in the art will understand that the technical features of a given embodiment may in fact be combined with features of another embodiment unless the reverse is explicitly mentioned or that it is obvious that these characteristics are incompatible. In addition, the technical features described in a given embodiment can be isolated from the other features of this mode unless the opposite is explicitly mentioned. It should be obvious to those skilled in the art that the present invention allows embodiments in many other specific forms without departing from the scope defined by the scope of the appended claims, and the invention should not be limited. to the details given above.

Claims

1. Ground link module for supporting at least a portion of a vehicle frame, comprising a yoke (5) secured to the chassis and at least one wheel (1) for moving said vehicle, at least one wheel of the module being made mobile by motorization means (2), the position of the axis (x) of each wheel of the module being movable relative to the ground and the chassis at least by turning means (31), characterized in that: Each wheel (1) of the module is made integral with a suspension beam (4) itself secured to one side of the yoke (5), and on the other hand suspension means (40) secured to the chassis or frame (5), so that each wheel (1) is displaceable in a vertical direction (y), substantially perpendicular to the plane of the chassis, regardless of the position and / or displacement of the other wheels of the vehicle forming part of it. or not of said module;

Each wheel of the module is intended to be tilted so that the angle (A) formed between the axis (x) of a wheel and a plane parallel to the plane of the frame, said angle of inclination, is different from 0 [π]; the ground connection module being made integral with measuring and control means controlling at least the drive means (2), the steering means (31) and the suspension means (40).

2. ground link module according to the preceding claim, characterized in that each wheel (1) is mounted by a pivot connection on a rocket (3) called wheel flare, the wheel flare being mounted by a pivot connection on the corresponding suspension beam (4), the rocket (3) being movable in rotation along a substantially vertical axis of direction (y), this rotation of the rocket being ensured by a jack said steering cylinder (31) connected to a portion of arcuate form (30) of the rocket (3) and the suspension beam (4), the steering cylinder (31) being controlled by the measuring and control means.

3. ground link module according to the preceding claim, characterized in that the rocket (3) is rotatable along a substantially vertical axis (y), independently of the other rockets module.

4. Module ground link according to any one of claims 2 to 3, characterized in that the spindle (3) is either free in rotation, or made integral with the motorization means (2) controlled by the measuring means and for controlling the rotation of the wheel (1) mounted on the rocket about the wheel axis (x).

Ground connection module according to any one of the preceding claims, characterized in that the suspension beam (4) is mounted by a pivot connection on the yoke (5), the suspension beam (4) being movable in rotation along an axis parallel to the plane of the frame, so that the wheel is movable in a vertical direction (y).

6. ground link module according to any one of the preceding claims, characterized in that it comprises means for adjusting the geometry of the wheels of the ground connection module according to the space available around the vehicle.

Ground connection module according to one of the preceding claims, characterized in that the movement of the suspension beam (4) is controlled by the variation in length of a suspension cylinder (40) mounted by a pivot connection. to the frame or to the yoke (5), this suspension cylinder (40) controlled by the measuring and control means providing a control of the height of the suspension under the action of a pressurized fluidic circuit comprising at least one hydraulic accumulator provided with adjustable valves according to a pressure law defined by the user and integrated in the measuring and control means.

8. Module ground link according to any one of the preceding claims, characterized in that the module is a two-wheel axle, each suspension cylinder (40) is secured to a hand of a suspension beam (4) and on the other hand of the vehicle chassis.

9. Ground connection module according to any one of the claims

1 to 7, characterized in that the module is a bogie with four wheels, each suspension cylinder (40) is secured to one side of a suspension beam (4) and on the other hand to the yoke (5). ), the clevis being secured to the frame.

10. Ground connection module according to any one of the preceding claims, characterized in that the drive means (2) operate under the action of a fluid under pressure or an electric current.

1 1. Ground connection module according to any one of the preceding claims, characterized in that it comprises a device for calculating an angle (6) for steering the wheel direction (1) of the module, said device being controlled by the means measurement and control system for coordinating the steering of all the wheels of the module as a function of the steering data of the module transmitted to the angle calculating device (6) by the control means.

12. Vehicle comprising at least one set of steering wheels composed of at least one ground connection module according to one of the preceding claims, the modules comprising at least two wheels arranged on either side of the chassis of the vehicle and including a steering function, with for each module a steering control angle between a vertical plane perpendicular to the plane of the suspension beam (4) and the axis of rotation (x) of the wheel of the selected module so that during the steering of a train, the axes (x) of the wheels (1) of the modules of the same train define a determined point, called the turning center, by the intersection of their vertical projection on the ground.

13. Vehicle according to the preceding claim, characterized in that the steering angle of the wheels (1) of the vehicle is adjusted by the means of measuring and control via the angle calculation device (6) of each ground connection module, the turning means (31) ensuring the rotation of the rockets (3) along a substantially vertical axis of direction so that the centers turning of all the wheels are substantially merged.

14. Vehicle according to any one of claims 12 or 13, characterized in that it comprises at one of its ends at least one set of guide wheels forming a bogie, the arcuate portion (30) of a rocket (3) of one axle being connected to the arcuate portion (30) of a rocket of the other axle by a steering means (32), the two rockets (3) connected thereby by direction (32) being opposite, said steering means comprising a rocker (320) secured to the yoke (5) and two drawbars (321), each tongue being mounted on the rocker (320) and on the arc-shaped portion (30) of a rocket (3) by pivot links, the link between the rockets (3) vis-à-vis ensuring coordination of the steering of the train.

15. Vehicle according to any one of claims 12 or 13, characterized in that at least one wheel axle comprises a transverse direction bar (33) connected to the rockets (3) of the axle by pivot connections.

16. Vehicle according to any one of claims 12 to 15, characterized in that the vehicle comprises at least two cabins or control stations, each of these cabs comprising the measuring and control means of all the link modules on the ground of the vehicle.

17. Vehicle according to any one of claims 12 to 16, characterized in that the vehicle comprises at least two cabs or control stations, each of these cabs being able to separately control a portion of the vehicle modules or wheel sets.