Work vehicle
A work vehicle includes an engine, a speed changing apparatus that includes a hydrostatic stepless speed changing mechanism and is configured to subject motive power transmitted from the engine to speed changing and output the motive power, a travelling apparatus configured to travel on the motive power received from the speed changing apparatus, a speed detector configured to detect a speed of the travelling apparatus, a pressure detector configured to detect a hydraulic pressure in a closed circuit of the hydrostatic stepless speed changing mechanism, and a controller.
1. A work vehicle comprising:
an engine;
a speed changing apparatus including a hydrostatic stepless speed changing mechanism and configured to subject motive power from the engine to speed changing and output the motive power;
a travelling apparatus configured to travel on the motive power received from the speed changing apparatus;
a speed detector configured to detect a speed of the travelling apparatus;
a pressure detector configured to detect a hydraulic pressure in a closed circuit of the hydrostatic stepless speed changing mechanism; and
a controller configured or programmed to:
determine, by a determination module and based on the speed and the hydraulic pressure, whether the hydrostatic stepless speed changing mechanism has a swashplate angle such that the rotation speed outputted from the hydrostatic stepless speed changing mechanism and the rotation speed of the engine being offset each other; and
change the swashplate angle by an angle control module based on a result of the determination by the determination module.
2. The work vehicle according to claim 1 , wherein
the controller is configured or programmed to determine, by the determination module, whether the swashplate angle is an angle at which a rotation speed of the motive power outputted from the speed changing apparatus is not greater than a predetermined rotation speed.
3. The work vehicle according to claim 1 , wherein
the speed changing apparatus is a hydromechanical speed changing apparatus including a planetary gear mechanism on an output side of the hydrostatic stepless speed changing mechanism.
4. The work vehicle according to claim 1 , wherein
the closed circuit of the hydrostatic stepless speed changing mechanism includes:
a hydraulic pump drivable by the motive power from the engine;
a hydraulic motor drivable by hydraulic oil from the hydraulic pump; and
a hydraulic path through which the hydraulic oil circulates between the hydraulic pump and the hydraulic motor, and
the pressure detector is disposed on the hydraulic path.
5. A work vehicle comprising:
an engine;
a speed changing apparatus including a hydrostatic stepless speed changing mechanism and configured to subject motive power from the engine to speed changing and output the motive power;
a travelling apparatus configured to travel on the motive power received from the speed changing apparatus;
a speed detector configured to detect a speed of the travelling apparatus;
a pressure detector configured to detect a hydraulic pressure in a closed circuit of the hydrostatic stepless speed changing mechanism; and
a controller configured or programmed to:
determine, by a determination module and based on the speed and the hydraulic pressure, whether the hydrostatic stepless speed changing mechanism has a swashplate angle suitable for stopping the work vehicle; and
change the swashplate angle by an angle control module based on a result of the determination by the determination module
in a case where the speed is not greater than a predetermined value and the hydraulic pressure is higher than or equal to a predetermined value.
6. A work vehicle comprising:
an engine;
a speed changing apparatus including a hydrostatic stepless speed changing mechanism and configured to subject motive power from the engine to speed changing and output the motive power;
a travelling apparatus configured to travel on the motive power received from the speed changing apparatus;
a speed detector configured to detect a speed of the travelling apparatus;
a pressure detector configured to detect a hydraulic pressure in a closed circuit of the hydrostatic stepless speed changing mechanism;
a braking apparatus configured to brake the travelling apparatus; and
a controller configured or programmed to:
determine, by a determination module and based on the speed and the hydraulic pressure, whether the hydrostatic stepless speed changing mechanism has a swashplate angle suitable for stopping the work vehicle; and
change the swashplate angle by an angle control module based on a result of the determination by the determination module
when the travelling apparatus is being braked.