Work vehicle
The present invention relates to a work vehicle including an engine, a hydraulic pump, a hydraulic motor to drive wheels, an HST circuit in which the hydraulic pump and the hydraulic motor are connected to each other in the form of a closed circuit, a reducing agent sensor that detects the state of a reducing agent used to clean exhaust gas from the engine, and an engine restrictor that restricts the rotational speed of the engine based on the output from the reducing agent sensor, and the work vehicle further includes a control unit that changes the tilting angle of the hydraulic pump or the hydraulic motor independently of the rotational speed of the engine to a tilting angle associated with minimum travel drive force necessary for self-travel of the work vehicle when the control unit determines that the engine restrictor has restricted the rotational speed of the engine.
1. A work vehicle comprising:
an engine;
a rotational speed sensor that detects a rotational speed of the engine;
a hydraulic pump driven by the engine, a hydraulic motor driven with hydraulic oil discharged from the hydraulic pump to drive wheels, and an HST circuit in which the hydraulic pump and the hydraulic motor are connected to each other in a form of a closed circuit;
an accelerator pedal and an accelerator pedal operation amount detector that detects a pedal operation amount by which the accelerator pedal is operated;
a reducing agent sensor that detects a state of a reducing agent used to clean exhaust gas from the engine;
an engine restrictor that restricts the rotational speed of the engine based on an output from the reducing agent sensor; and
a control unit that is connected to the reducing agent sensor, the rotational speed sensor, and the accelerator pedal operation amount detector and controls the hydraulic pump or the hydraulic motor, wherein
in a case where an output value from the reducing agent sensor does not satisfy a predetermined condition, the engine rotational speed outputted by the rotational speed sensor is lower than a predetermined speed, and the pedal operation amount outputted by the accelerator pedal operation amount detector is greater than a predetermined threshold, the control unit determines that the engine restrictor has restricted the rotational speed of the engine and changes a tilting angle of the hydraulic pump or the hydraulic motor independently of the rotational speed of the engine to the tilting angle associated with minimum travel drive force necessary for self-travel of the work vehicle.
2. The work vehicle according to claim 1 , wherein
the hydraulic pump includes a hydraulic pump regulator that increases or decreases volume of the hydraulic pump, and
when the control unit determines that the engine restrictor has restricted the rotational speed of the engine, the control unit outputs a signal that increases a volume of the hydraulic pump to the hydraulic pump regulator.
3. The work vehicle according to claim 1 , wherein
the hydraulic motor includes a hydraulic motor regulator that increases or decreases volume of the hydraulic motor, and
when the control unit determines that the engine restrictor has restricted the rotational speed of the engine, the control unit outputs a signal that decreases a volume of the hydraulic motor to the hydraulic motor regulator.
4. The work vehicle according to claim 1 , wherein
the work vehicle further comprises an input section to which a command of an increase in the rotational speed of the engine is inputted, and
when the control unit determines that the command greater than or equal to a predetermined value has been inputted to the input section, the control unit changes the tilting angle to the tilting angle associated with minimum travel drive force necessary for self-travel of the work vehicle.
5. The work vehicle according to claim 1 , wherein
in the case where the rotational speed of the engine is restricted, the control unit maintains the tilting angle of the hydraulic pump or the hydraulic motor to be the tilting angle associated with minimum travel drive force necessary for self-travel of the work vehicle even when the pedal operation amount outputted by the accelerator pedal operation amount detector becomes zero.