Self-propelled vehicle with wheel rotation reversal

Abstract

The invention relates to a vehicle (1) comprising a front axle (2), a rear axle (3), a motor (4) common to both axles (2, 3), each axle (2, 3) comprising a rotary input shaft (5), two aligned driven output shaft sections (61, 62) each engaged with a wheel (7) of the vehicle (1), a differential (8) comprising at least one planet gear (9) that meshes with two mounted sun gears (101, 102), one (101) of which rotates as one with the first output shaft section (61) and the other of which is free to rotate on the second output shaft section (62). Each output shaft section (61, 62) carries, in a freely rotatable manner, a rotary part (111, 112) that rotates as one with the input shaft (5), the parts (111, 112) being counter-rotating, the rotary part (111) forming a driving element for rotating the sun gear (101, 102) / planet gear (9) assembly of the differential (8). The first section (61) and the second section (62) of the output shaft each carry a clutch member (221, 13) that rotates as one with, and is axially movable on, the associated output shaft section in order to allow, when the clutch members (221, 13) are in the first position, the wheels (7) to be rotated in the same direction and, when the clutch members (221, 13) are in the second position, the wheels (7) to be rotated in an opposite direction.

Description

Description Title of the invention: SELF-PROPELLED VEHICLE WITH REVERSING DIRECTION OF ROTATION OF THE WHEELS

[0001] The present invention relates to a self-propelled vehicle equipped with wheels and comprising a front axle, a rear axle, an engine common to both axles, each axle comprising a rotary input shaft capable of being driven in rotation by the engine common to both axles, two driven output shaft sections aligned along a longitudinal axis and each engaged with a wheel of the vehicle, a differential comprising at least one satellite engaged by meshing with two planetary gears.

[0002] In such a self-propelled vehicle, particularly when this vehicle is a load handling vehicle, it is advantageous for the vehicle to have at least one configuration in which the wheels of the same axle are driven in opposite directions of rotation. This configuration allows the vehicle to turn on itself by rotating the wheels in different directions using a single motor to eliminate the need for a turret. However, the mechanical solutions proposed to date are complex, bulky and expensive, as illustrated in particular by patents EP1918176 and CH99432.

[0003] An aim of the invention is to propose a self-propelled vehicle of the aforementioned type, the design of which allows the vehicle to turn on itself by rotating the wheels in different directions using a single motor to do away with a turret without compromising the simplicity of the mechanics of the axles of said vehicle.

[0004] To this end, the invention relates to a self-propelled vehicle equipped with wheels and comprising a front axle, a rear axle, an engine common to both axles, each axle comprising a rotary input shaft capable of being driven in rotation by the engine common to both axles, two driven output shaft sections aligned along a longitudinal axis and each engaged with a wheel of the vehicle, a differential comprising at least one satellite engaged by meshing with two sun gears characterized in that for each axle, the sun gears of the differential are mounted, one, integral in rotation with one of the output shaft sections, called the first output shaft section, the other, free to rotate on the other of the output shaft sections, called the second output shaft section, of said bridge, in that each output shaft section carries a rotating part integral in rotation with the input shaft and mounted free to rotate on the output shaft section which carries it, in that said rotating parts are counter-rotating parts, in that the rotating part of the first output shaft section forms a driving element for driving in rotation the planetary / satellite assembly of the differential around an axis coinciding with the longitudinal axis of the output shaft sections, in that the first output shaft section carries a clutch member called the first clutch member,mounted integral in rotation with the first output shaft section and axially movable on said first output shaft section between a first position spaced from the rotating part carried by the first output shaft section and a second position close to said rotating part for mounting integral in rotation with said rotating part, in that the second output shaft section carries a clutch mechanism comprising a clutch member called second clutch member mounted integral in rotation with said second output shaft section and axially movable on said second output shaft section between a first position corresponding to a mounting integral in rotation with the sun gear mounted on said second output shaft section, and a second position corresponding to a mounting integral in rotation with the rotating part of the second output shaft section integral in rotation with the input shaft,the configuration in which the first and second clutch members are in the first position corresponding to a configuration for driving the wheels of the bridge in rotation in the same direction, the configuration in which the first and second clutch members are in the second position corresponding to a configuration for driving the wheels of the bridge in rotation in an opposite direction.,

[0005] The mechanical solution makes it possible not to stress at least part of the differential in the driven state rotating in the opposite direction of the output shaft sections of an axle and, consequently, to have a simple and compact mechanical solution.

[0006] According to one embodiment of the invention, the clutch mechanism of the second output shaft section is a dog clutch mechanism and in that the clutch member mounted integral in rotation with the second output shaft section and axially movable on said second output shaft section is a movable dog clutch.

[0007] According to one embodiment of the invention, the clutch member of the first output shaft section is a movable dog clutch capable of coming, in the second position, into engagement with teeth carried by the rotating part of the first output shaft section.

[0008] According to one embodiment of the invention, the wheels are steerable wheels mounted for rotation about an axis, called vertical, perpendicular to the axis of the first and second output shaft sections, said axis extending vertically in the positioned state of the wheels on a horizontal flat surface. The possibility of steering the wheels which are steered wheels facilitates the possibility for the vehicle to turn on itself.

[0009] According to one embodiment of the invention, each rotating part takes the form of a crown mounted freely in rotation on the output shaft section which carries it, said rotating parts being engaged with the input shaft via a bevel gear fitted to said input shaft. This results in a mechanically resistant assembly.

[0010] According to one embodiment of the invention, the rotating part of the first output shaft section is connected via arms to the satellites of the differential to form a rotating shell or cage of said differential.

[0011] According to one embodiment of the invention, the clutch member of the clutch mechanism of the second output shaft section of one of the axles is mounted kinematically integral in movement with the clutch member of the second output shaft section of the other of the axles to allow, in parallel with the movement of the clutch member of one of the axles, the movement of the clutch member of the other of the axles. Thus, when the wheels of the front axle are rotated in the same direction, the same is true for the wheels of the rear axle. Similarly, when the wheels of the front axle are driven in rotation in an opposite direction from one wheel to the other of said axle, the same applies to the wheels of the rear axle.

[0012] According to one embodiment of the invention, the clutch member of the first output shaft section of one of the axles is mounted kinematically integral in movement with the clutch member of the first output shaft section of the other of the axles to allow, in parallel with the movement of the clutch member of one of the axles, the movement of the clutch member of the other of the axles.

[0013] According to one embodiment of the invention, each bridge comprises, for the passage of the first and second clutch members of said bridge from one position to another, a control member for driving the movement of said clutch members, this control member being configured to allow, in parallel with the passage of the first clutch member from the first to the second position, the passage of the second clutch member from the first to the second position and vice versa.

[0014] According to one embodiment of the invention, the control members each equipping a bridge are configured to operate in parallel with a view to parallel movement of the clutch members.

[0015] According to one embodiment of the invention, said control member is a piston or a fork.

[0016] According to one embodiment of the invention, the vehicle has an “O” wheel configuration in which the vehicle wheels are arranged on a center circle passing through an axis extending vertically in the positioned state of the vehicle wheels on a horizontal plane surface for rotation of the vehicle on itself around said axis and the clutch member is, for each axle, arranged in the second position in the “O” configuration of the wheels. This configuration allows the vehicle to turn on itself in an optimal manner.

[0017] According to one embodiment of the invention, the vehicle is a load handling vehicle equipped with a load handling system.

[0018] Brief description of the drawings

[0019] The invention will be clearly understood upon reading the following description of exemplary embodiments, with reference to the appended drawings in which:

[0020] [Fig. 1] represents a side view of a vehicle according to the invention;

[0021] [Fig. 2] represents a partial schematic top view of the front and rear axles and their coupling to the engine in the positioned state of the wheels of the same axle in parallel planes;

[0022] [Fig. 3] represents a partial schematic top view of the front and rear axles and their coupling to the engine in the “O” position of the wheels;

[0023] [Fig. 4] represents a partial schematic top view of a bridge in the positioned state of the second clutch member in an intermediate position between the first and second positions;

[0024] [Fig. 5] represents a partial schematic top view of a bridge in the positioned state of the first and second clutch members in the first position;

[0025] [Fig. 6] represents a partial schematic top view of a bridge in the positioned state of the first and second clutch members in the second position;

[0026] [Fig. 7] represents a partial schematic top view of the bridges in the positioned state of the first and second clutch members of each bridge in the second position;

[0027] [Fig. 8] represents a partial schematic view of the interior of a driver's cab of said vehicle.

[0028] As mentioned above, the invention relates to a self-propelled vehicle 1 which may be in accordance with that shown in FIG. 1.

[0029] In this example, the self-propelled vehicle 1 is a load handling vehicle equipped with a load handling system 19. The load handling system 19 is here in the form of a pivoting lifting arm pivotally mounted about a so-called horizontal axis transverse to the longitudinal axis of the vehicle for movement of the arm between a high position and a low position of the lifting arm.

[0030] This self-propelled vehicle 1 comprises wheels 7 for moving the self-propelled vehicle 1 on the ground. In the example shown, these wheels are in the number of four. This self-propelled vehicle 1 also includes two axles shown at 2 and 3 in the figures, namely a front axle and a rear axle. The front axle allows the rotational drive of the front wheels 7 of the vehicle, while the rear axle allows the rotational drive of the rear wheels 7 of the vehicle.

[0031] Each bridge is similar. Thus, each bridge comprises a rotary input shaft 5 capable of being driven in rotation by a motor 4 common to the two bridges 2 and 3. Each bridge further comprises two driven output shaft sections aligned along a longitudinal axis XX' and each engaged with a wheel 7 of the vehicle 1 and a differential 8. The differential 8 of each bridge comprises at least one satellite 9, in this case two satellites 9. Each satellite 9 is engaged by meshing with two mounted sun gears 101 and 102, one, 101, integral in rotation with one of the output shaft sections, namely the output shaft section shown at 61 in the figures, and called the first output shaft section 61 of the bridge, the other, shown at 102 in the figures, free to rotate on the other of the output shaft sections, called the second output shaft section 62 of the bridge.

[0032] Typically, the input shaft 5 of one of the bridges is rotated at the same speed as the input shaft 5 of the other bridge.

[0033] For each bridge 2 or 3, each output shaft section of the bridge carries a rotating part integral in rotation with the input shaft 5 and mounted freely in rotation on the shaft section which carries it. Thus, the first output shaft section 61 of each bridge carries a rotating part 111, while the second output shaft section 62 of each bridge carries a rotating part 112.

[0034] For each point, the rotating parts 111 and 112 of the bridge are counter-rotating parts, i.e. they rotate in opposite directions of rotation. Each rotating part 111 or 112 of the bridge has the shape of a crown mounted freely in rotation on the section 61 or 62 of the output shaft which carries it. These rotating parts 111 and 112 are engaged with the input shaft 5 via a bevel gear 14 fitted to said input shaft. Thus, the rotating parts 111 and 112 are here counter-rotating by construction.

[0035] The rotating part 111 mounted on the first output shaft section 61 forms, in the examples shown, a driving element in rotation of the planetary assembly 101, 102 satellites 9 of the differential 8 around an axis coincident with the longitudinal axis XX' of the output shaft sections 61 and 62. In particular, the rotating part 111 of the first output shaft section 61 is connected by means of arms 15 to the satellites 9 of the differential 8 to form a shell which can also be called a rotating cage of said differential 8. The second output shaft section 62 carries, for its part, a clutch mechanism 12.

[0036] This clutch mechanism 12, as illustrated in Figures 4 to 6, comprises a clutch member 13, called second clutch member 13, mounted integral in rotation with the second output shaft section 62 and axially movable on said second output shaft section 62 between a first position corresponding to a mounting integral in rotation with the sun gear 102 mounted on said second output shaft section 62 to allow rotational driving of the wheels 7 of the bridge in the same direction and a second position corresponding to a mounting integral in rotation with the rotating part 112, carried by the second output shaft section, and integral in rotation with the input shaft 5 to allow rotational driving of the wheels 7 of the bridge in an opposite direction.

[0037] The clutch mechanism 12 is a dog clutch mechanism and the clutch member 13 which is mounted integral in rotation with the second output shaft section 62 and axially movable on said second output shaft section 62 is a movable dog clutch. This dog clutch is, for example, in the form of a wheel equipped with teeth on each of its faces. The teeth of one face of the dog clutch wheel constituting the clutch member 13 engage with teeth carried by the sun gear 102 in the first position of the clutch member 13, while the teeth of the other face of the dog clutch wheel constituting the clutch member 13 engage with teeth provided on the rotating part 112 carried by the second output shaft section 62 in the second position of the clutch member 13.

[0038] Similarly, the first output shaft section 61 carries a clutch mechanism comprising a clutch member 221, called the first clutch member 221, such as a movable dog mounted integral in rotation with the first shaft section 61 and axially movable on this first section 61. shaft between a first position corresponding to a mounting in which it is spaced from the rotating part 111 so as not to be engaged with the rotating part 111 to allow rotation of the wheels 7 of the bridge in the same direction and a second position, close to the rotating part 111 carried by the first output shaft section 61, in which it is integral in rotation with said rotating part 111 to allow rotation of the wheels 7 of the bridge in an opposite direction. In particular, the clutch member 221 of the first output shaft section 61 is a movable dog capable of coming, in the second position, into engagement with teeth 222 carried by the rotating part 111 of the first output shaft section 61.

[0039] The configuration in which the first clutch member 221 and the second clutch member 13 of an axle are in the first position corresponds to a configuration allowing rotational driving of the wheels 7 of the axle 2 or 3 in the same direction as illustrated in figure 5.

[0040] The configuration in which the first clutch member 221 and the second clutch member 13 of an axle are in the second position corresponds to a configuration allowing rotational driving of the wheels 7 of the axle 2 or 3 in an opposite direction as illustrated in FIG. 6.

[0041] As illustrated in Figure 7, each bridge comprises, for the passage of the clutch member 13 and the clutch member 221 of the bridge from one position to another, a member 16 for controlling the movement of said clutch member 13 and the clutch member 221.

[0042] The control members 16 each equip a bridge and are configured to operate in parallel for the purpose of parallel movement of the clutch members 13 and 221. For each bridge, the control member 16 is configured to allow, in parallel with the passage of the first clutch member 221 from the first to the second position, the passage of the second clutch member 13 from the first to the second position and vice versa.

[0043] Each control member 16 can be a fork or a piston as in the example shown where the piston is formed by the rod of a jack. These jacks can be actuated in parallel and simultaneously.

[0044] Thus, the clutch member 13 of the clutch mechanism 12 of the second shaft section 62 of one of the axles is mounted kinematically integral in movement with the clutch member 13 of the second output shaft section 62 of the other of the axles to allow, in parallel with the movement of the clutch member 13 of one of the axles, the movement of the clutch member 13 of the other of the axles. It should be noted that there is an intermediate position of the clutch member 13 as illustrated in FIG. 4 where the clutch member 13 is not engaged with either the rotating part 112 or the sun gear 102 so that the wheel of the second output shaft section 62 is in freewheel mode.

[0045] Likewise, the clutch member 221 of the first shaft section 61 of one of the axles is mounted kinematically integral in movement with the clutch member 221 of the first output shaft section 61 of the other of the axles to allow, in parallel with the movement of the clutch member 221 of one of the axles, the movement of the clutch member 221 of the other of the axles.

[0046] Each bridge is also equipped with a mechanism 21 for steering the wheels 7 of the bridge which, in addition to being drive wheels, are steered wheels. In fact, the wheels 7 are steerable wheels mounted to rotate around a so-called vertical axis perpendicular to the axis of the first and second output shaft sections 61 and 62. Said axis extends vertically when the wheels 7 are positioned on a horizontal plane surface.

[0047] The steering system for wheels 7 on deck 2 is a hydrostatic steering system with a double-acting central cylinder and two output rods. The same applies to the steering system for wheels 7 on deck 3.

[0048] The details of the operation of such a direction will not be provided because it is well known to those skilled in this art as illustrated for example by patent EP2570331.

[0049] For each bridge, the cylinder of the bridge steering mechanism 21 comprises a body elongated from one end towards the other end of the body and two pistons each associated with a directional control output rod of one of the wheels of the bridge. The pistons divide the cylinder body into a central chamber extending between the pistons and two end chambers arranged each rod side. One of the rods is associated with one of the pistons while the other rod is associated with the other piston.

[0050] Each output rod of the jack is coupled to a wheel of the bridge for orientation of the wheel by rotation of the wheel around an axis transverse to the axis of rotation of the wheel under the action of said output rod.

[0051] Each output rod is thus, in a manner known per se, connected to a wheel pivot by a steering rod. The movement of the cylinder rod is transmitted by the rod to the pivot axis of the wheel for rotation of the wheel around a vertical axis when the vehicle is positioned on a horizontal plane surface.

[0052] The vehicle 1 comprises two configurations. In the so-called normal rolling configuration as illustrated in Figure 2, the wheels of the same axle extend in parallel planes and rotate in the same direction. In this configuration, the two rods of the central cylinder are integral in movement and the clutch member 13 of each axle is in the first position. In this configuration, the end chambers of the cylinder form one, an exhaust chamber, the other, a fluid intake chamber and vice versa. In a second configuration called "O", illustrated in Figure 3, the wheels of the vehicle are arranged on a center circle passing through an axis extending vertically in the positioned state of the wheels 7 of the vehicle 1 on a horizontal plane surface for rotation of the vehicle on itself around said axis. To allow passage in this configuration, the two cylinder rods are extended.For this purpose, the central chamber of the cylinder is supplied with fluid, the rods are independent in movement and the end chambers each form a fluid exhaust chamber. Thus, the wheels of the front axle occupy a toe-in position, that is to say converge and point towards the inside of the machine, forming a re-entrant angle with respect to the longitudinal axis of the vehicle taken in the front / rear direction. The rear wheels occupy an open position, that is to say converge and point towards the outside of the vehicle, forming an outgoing angle with respect to the longitudinal axis of the vehicle taken in the front / rear direction.

[0053] In this "O" configuration of the wheels as illustrated in Figure 3, the first clutch member 221 and the second clutch member 13 are, for each axle, arranged in the second position to allow the wheels of the same axle to be driven in rotation in opposite directions.

[0054] In this "O" configuration of the wheels, the vehicle can thus turn on itself.

[0055] To allow the transition from the configuration in which the two cylinder rods are integral in movement to the configuration in which the two cylinder rods are independent and form two separate rods in parallel with the passage of the second clutch member 13 and the first clutch member 221 from one position to another, the vehicle comprises at the driver's station of the machine a control member represented here in the form of a button 20.

[0056] Thus, the actuation of the button 20 by the driver of the vehicle allows, in parallel with the passage of the wheels 7 from one configuration to another, the passage of the first and second clutch members 221 and 13 from one position to another.

[0057] Thus, in rolling configuration, that is to say in the configuration in which the wheels of the same bridge are in parallel planes, the first and second clutch members 221 and 13 of each bridge are in the first position and the wheels of a bridge are driven in rotation in the same direction, that is to say in the same direction of rotation.

[0058] As soon as the operator acts on the control button 20, the wheels assume an "O" configuration and the first and second clutch members 221 and 13 of each axle are arranged in the second position so that the wheels of the axle are driven in rotation in an opposite direction, that is to say in opposite directions of rotation. The "O" wheels of the front and rear axles located along the same longitudinal side of the vehicle are driven in the same direction, as illustrated in Figure 7.

[0059] This configuration is used occasionally when the driver of the vehicle wants it to turn on itself.

[0060] Figure 4 is a representation at rest where the system is not operational. The first and second output shaft sections 61 and 62 can be driven but without torque. When the machine is on its wheels, there is no transmission of rotational motion from the input shaft 5 to the wheels.

[0061] Figure 5 illustrates the first and second clutch members 221 and 13 in the first position corresponding to the reverse differential in the differential position.

[0062] The second clutch member 13 mounted integral in rotation with the shaft section 62 is mounted integral in rotation with the sun gear 102 and the transmission of movement from the motor shaft 5 to the left wheel 7 (G) takes place via the sun gear 102.

[0063] The first clutch member 221 is in the disengaged state, that is to say spaced from the teeth 222 carried by the rotating part 111 of the first output shaft section 61, and the transmission of movement from the motor shaft 5 to the right wheel 7 (D) takes place via the sun gear 101.

[0064] The torque path for the right wheel 7 (D) passes through the motor 4, the input shaft 5, the bevel gear 14, the rotating part 111 of the first output shaft section 61, the arms 15 of the planet gear 9, the planet gear 9, the sun gear 101 of the first output shaft section 61, the first output shaft section 61 and the right wheel 7 (D). When the resistances applied to the right (R) and left (L) wheels 7 are identical, the arms 15 of the satellite 9 rotate around XX' making the planets 101 and 102 rotate, there is no relative movement between the satellite 9 and the planets 101 and 102. It is when the resistances are different on the right (R) and left (L) wheels 7 that the differential acts thanks to the satellite 9 which rotates and distributes differently (differentially) the torque on the planets 101 and 102 with differential speeds.

[0065] Figure 6 illustrates the clutch members 221 and 13 in the second position corresponding to the reverse differential in the reverse position.

[0066] The second clutch member 13 mounted integral in rotation with the shaft section 62 is mounted integral in rotation with the rotating part 112 and the transmission of rotational movement from the motor shaft 5 to the left wheel 7 (G) is operated via the rotating part 112, the second clutch member 13 and the second output shaft section 62.

[0067] The first clutch member 221 is in the engaged state and the transmission from the input shaft 5 to the right wheel 7 (D) takes place via the sun gear 111, the first clutch member 221 and the first output shaft section 61.

Claims

Claims

1. Self-propelled vehicle (1) equipped with wheels (7) and comprising a front axle (2), a rear axle (3), a motor common to the two axles (2, 3), each axle (2, 3) comprising a rotary input shaft (5) capable of being driven in rotation by the motor (4) common to the two axles (2, 3), two driven output shaft sections (61, 62) aligned along a longitudinal axis (XX') and each engaged with a wheel (7) of the vehicle (1), a differential (8) comprising at least one satellite (9) engaged by meshing with two sun gears (101, 102) characterized in that for each axle (2, 3), the sun gears (101, 102) of the differential (8) are mounted, one (101), integral in rotation with one (61) of the sections (61, 62) of the differential shaft (8) and ... output, called first output shaft section (61), the other (102), free to rotate on the other (62) of the output shaft sections (61, 62), called second output shaft section (62), of said bridge, in that each section (61,62) output shaft carries a rotating part (111, 112) integral in rotation with the input shaft (5) and mounted free in rotation on the output shaft section (61, 62) which carries it, in that said rotating parts (111, 112) are counter-rotating parts, in that the rotating part (111) of the first output shaft section (61) forms a driving element for driving in rotation the planetary (101, 102) / satellite (9) assembly of the differential (8) around an axis coinciding with the longitudinal axis (XX') of the output shaft sections (61, 62), in that the first output shaft section (61) carries a clutch member (221) called the first clutch member (221),mounted integral in rotation with the first output shaft section (61) and axially movable on said first output shaft section (61) between a first position spaced from the rotating part (111) carried by the first output shaft section (61) and a second position close to said rotating part (111) for mounting integral in rotation with said rotating part (111), in that the second output shaft section (62) carries a clutch mechanism (12) comprising a clutch member (13) called second clutch member (13) mounted integral in rotation with said second output shaft section (62) and axially movable on said second shaft section (62), output between a first position corresponding to a mounting integral in rotation with the sun gear (102) mounted on said second output shaft section (62), and a second position corresponding to a mounting integral in rotation with the rotating part (112) of the second output shaft section (62) integral in rotation with the input shaft, the configuration in which the first and second clutch members (221, 13) are in the first position corresponding to a configuration for driving the wheels (7) of the bridge (2, 3) in rotation in the same direction, the configuration in which the first and second clutch members (221, 13) are in the second position corresponding to a configuration for driving the wheels (7) of the bridge (2, 3) in rotation in an opposite direction.

2. Self-propelled vehicle (1) according to claim 1, characterized in that the clutch mechanism (12) of the second output shaft section (62) is a dog clutch mechanism and in that the clutch member (13) mounted integral in rotation with the second output shaft section (62) and axially movable on said second output shaft section (62) is a movable dog clutch.

3. Vehicle (1) according to one of claims 1 or 2, characterized in that the clutch member (221) of the first output shaft section (61) is a movable dog clutch capable of coming, in the second position, into engagement with teeth (222) carried by the rotating part (111) of the first output shaft section (61).

4. Vehicle (1) according to one of claims 1 to 3, characterized in that the wheels (7) are steerable wheels mounted for rotation about an axis, called vertical, perpendicular to the axis of the first and second sections (61, 62) of output shaft, said axis extending vertically in the positioned state of the wheels (7) on a horizontal plane surface.

5. Vehicle (1) according to one of claims 1 to 4, characterized in that each rotating part (111, 112) takes the form of a crown mounted freely in rotation on the section (61, 62) of the output shaft which carries it, said rotating parts (111, 112) being engaged with the input shaft (5) via a conical pinion (14) fitted to said input shaft (5).

6. Vehicle (1) according to one of claims 1 to 5, characterized in that the rotating part (111) of the first output shaft section (61) is connected by means of arms (15) to the satellites (9) of the differential (8) to form a rotating shell or cage of said differential (8).

7. Vehicle (1) according to one of claims 1 to 6, characterized in that the clutch member (13) of the clutch mechanism (12) of the second output shaft section (62) of one (2) of the bridges (2, 3) is mounted kinematically integral in movement with the clutch member (13) of the second output shaft section (62) of the other (3) of the bridges (2, 3) to allow, in parallel with the movement of the clutch member (13) of one of the bridges (2, 3), the movement of the clutch member (13) of the other of the bridges (2, 3).

8. Vehicle (1) according to one of claims 1 to 7, characterized in that the clutch member (221) of the first output shaft section (61) of one (2) of the bridges (2, 3) is mounted kinematically integral in movement with the clutch member (221) of the first output shaft section (61) of the other (3) of the bridges (2, 3) to allow, in parallel with the movement of the clutch member (221) of one of the bridges (2, 3), the movement of the clutch member (221) of the other of the bridges (2, 3).

9. Vehicle (1) according to one of claims 1 to 8, characterized in that each bridge (2, 3) comprises, for the passage of the first and second clutch members (221, 13) of said bridge (2, 3) from one position to another, a member (16) for controlling the movement of said clutch members (221, 13), this control member (16) being configured to allow, in parallel with the passage of the first clutch member (221) from the first to the second position, the passage of the second clutch member (13) from the first to the second position and vice versa.

10. Vehicle (1) according to claim 9, characterized in that the control members (16) each equipping an axle (2, 3) are configured to operate in parallel with a view to parallel movement of the clutch members (221, 13).

11. Vehicle (1) according to one of claims 9 or 10, characterized in that said control member (16) is a piston or a fork.

12. Vehicle (1) according to one of claims 1 to 11, characterized in that the vehicle has an “O” configuration of the wheels (7) in which the wheels (7) of the vehicle (1) are arranged on a circle with a center passing through an axis extending vertically in the positioned state of the wheels (7) of the vehicle (1) on a horizontal plane surface for rotation of the vehicle on itself around said axis and in that the clutch member (13) is, for each bridge (2, 3), arranged in the second position in the “O” configuration of the wheels (7).

13. Self-propelled vehicle (1) according to one of claims 1 to 12, characterized in that the vehicle (1) is a load handling vehicle equipped with a load handling system (19).

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