Work vehicle
A work vehicle includes a hydraulic actuator that changes an actual steering angle, an actual steering angle detecting part, an operating unit that performs a steering operation, a position adjusting control part that controls the position adjusting part based on the actual steering angle, and a steering control part that controls the hydraulic actuator. The operating unit includes a support part, a rotating part supported rotatably by the support part, an operating part supported rotatably by the support part or the rotating part, a biasing part that biases the operating part to a predetermined position with respect to the rotating part, a position adjusting part that adjusts a rotation angle of the rotating part with respect to the support part, and a rotation angle detecting part configured to detect the rotation angle of the operating part with respect to the support part or the rotating part.
1. A work vehicle comprising:
a hydraulic actuator configured to change an actual steering angle;
an actual steering angle detecting part configured to detect the actual steering angle;
an operating unit configured to perform a steering operation, the operating unit including
a support part,
a rotating part supported rotatably by the support part,
an operating part supported rotatably by the support part or the rotating part, the operating part being configured to be rotated by an operator,
a biasing part configured to bias the operating part to a predetermined position with respect to the rotating part,
a position adjusting part configured to adjust a rotation angle of the rotating part with respect to the support part, and
a first rotation angle detecting part configured to detect the rotation angle of the operating part with respect to the support part;
a position adjusting control part configured to control the position adjusting part based on the actual steering angle; and
a steering control part configured to control the hydraulic actuator based on a difference between an input steering angle and the actual steering angle, the input steering angle corresponding to the rotation angle of the operating part.
2. The work vehicle according to claim 1 , wherein
the rotation angle of the rotating part adjusted by the position adjusting part corresponds to the actual steering angle.
3. The work vehicle according to claim 1 , wherein
the position adjusting part includes
an actuator configured to be a driving source, and
a speed reducing part configured to reduce a speed of rotation of the actuator and to transmit rotation to the rotating unit.
4. The work vehicle according to claim 1 , wherein
the biasing part includes a friction brake or a damper.
5. The work vehicle according to claim 1 , wherein
the work vehicle is an articulated type in which a rear frame is coupled to a front frame, and
the actual steering angle is an angle of the front frame with respect to the rear frame.
6. The work vehicle according to claim 1 , wherein
the operating part is a joystick lever.
7. The work vehicle according to claim 1 , further comprising:
a control valve configured to control a flow rate of oil supplied to the hydraulic actuator based on a rotation operation of the operating part,
the control valve being in a neutral position while the operating unit is arranged in the predetermined position.
8. The work vehicle according to claim 1 , wherein
the position adjusting part is disposed between the support part and the rotating part.
9. The work vehicle according to claim 1 , wherein
the support part is fixed to a console box disposed to a side of an operator's seat.
10. The work vehicle according to claim 1 , wherein
the position adjusting control part is a controller including a processor.
11. A work vehicle comprising:
a hydraulic actuator configured to change an actual steering angle;
an actual steering angle detecting part configured to detect the actual steering angle;
an operating unit configured to perform a steering operation, the operating unit including
a support part,
a rotating part supported rotatably by the support part,
an operating part supported rotatably by the support part or the rotating part, the operating part being configured to be rotated by an operator,
a biasing part configured to bias the operating part to a predetermined position with respect to the rotating part,
a position adjusting part configured to adjust the rotation angle of the rotating part with respect to the support part, and
a second rotation angle detecting part configured to detect the rotation angle of the operating part with respect to the rotating part;
a position adjusting control part configured to control the position adjusting part based on the actual steering angle; and
a steering control part configured to control the hydraulic actuator based on the rotation angle of the operating part.
12. The work vehicle according to claim 11 , wherein
the position adjusting part includes
an actuator configured to be a driving source, and
a speed reducing part configured to reduce a speed of rotation of the actuator and to transmit rotation to the rotating unit.
13. The work vehicle according to claim 11 , wherein
the biasing part includes a friction brake or a damper.
14. The work vehicle according to claim 11 , wherein
the work vehicle is an articulated type in which a rear frame is coupled to a front frame, and
the actual steering angle is an angle of the front frame with respect to the rear frame.
15. The work vehicle according to claim 11 , wherein
the operating part is a joystick lever.
16. The work vehicle according to claim 11 , further comprising:
a control valve configured to control a flow rate of oil supplied to the hydraulic actuator based on a rotation operation of the operating part,
the control valve being in a neutral position while the operating unit is arranged in the predetermined position.
17. The work vehicle according to claim 11 , wherein
the position adjusting part is disposed between the support part and the rotating part.
18. The work vehicle according to claim 11 , wherein
the support part is fixed to a console box disposed to a side of an operator's seat.
19. The work vehicle according to claim 11 , wherein
the position adjusting control part is a controller including a processor.