US 11,878,732 B2Granted

Work vehicle

AssigneeKomatsu Ltd.

InventorYuichi Teranishi

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Abstract

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, and a position adjusting part that adjusts a rotation angle of the rotating part with respect to the support part. The biasing part may produce various counterforces and may increase or reduce an increasing rate of a counterforce with respect to the relative angle.

Claims18

Dependent claims

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 with respect to the support part and the rotating part, the operating part being configured to be operated and rotated by an operator,
a biasing part biasing the operating part to a predetermined position with respect to the rotating part, and
a position adjusting part configured to adjust a rotation angle of the rotating part with respect to the support part;
an operator's seat;
a console box arranged to a side of the operator's seat, the support part being fixed to the console box, and the position adjusting part being disposed between the support part and the rotating part
a position adjustment control part configured to output a command signal 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 rotation and operation of the operating part,
the biasing part, in a situation in which the operating part is operated and rotated in a predetermined direction with respect to the rotating part,
when an absolute value of a relative angle of the operating part with respect to the rotating part is equal to or greater than a first predetermined angle, increasing an increasing rate of a counterforce with respect to the relative angle more in comparison to when the absolute value of the relative angle is less than the first predetermined angle, and
when the absolute value of the relative angle is equal to or greater than a second predetermined angle that is equal to or greater than the first predetermined angle, reducing the increasing rate of the counterforce with respect to the relative angle more than in comparison to when the absolute value of the relative angle is smaller than the second predetermined angle and the absolute value of the relative angle is equal to or greater than the first predetermined angle.

13 more elements

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 with respect to the support part and the rotating part, the operating part being configured to be operated and rotated by an operator,
a biasing part biasing the operating part to a predetermined position with respect to the rotating part, and
a position adjusting part configured to adjust a rotation angle of the rotating part with respect to the support part an operator's seat;
and a console box arranged to a side of the operator's seat, the support part being fixed to the console box, and the position adjusting part being disposed between the support part and the rotating part;
a position adjustment control part configured to output a command signal 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 and operation of the operating part,
the biasing part, in a situation in which the operating part is operated and rotated in a predetermined direction with respect to the rotating part,
when an absolute value of a relative angle of the operating part with respect to the rotating part is less than a first predetermined angle, producing a counterforce that corresponds to the absolute value of the relative angle,
increasing the counterforce up to a predetermined counterforce when the absolute value of the relative angle is the first predetermined angle, and
producing a counterforce corresponding to the relative angle after the counterforce at the first predetermined angle reaches of the predetermined counterforce.

13 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/768,399Filed 20 Feb 2019
Priority: JP 2018-1089776 Jun 2018
Published: US 2020/0317250 A18 Oct 2020
Granted: 23 Jan 2024
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

B62D 1/12
Vehicle-mounted: hand levers
B62D 5/06
Power-assisted or power-driven steering: fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
B62D 5/28
Specially adapted for particular type of steering gear or particular application: for pivoted bogies
B62D 6/00
Arrangements for automatically controlling steering depending on driving conditions sensed and responded