Patent ID: 11965495
Assignee: KUBOTA CORPORATION
Field: Mechanical elements (Mechanical engineering)
Classification: CPC F  B | IPC F

Claim 0:
1. A working vehicle comprising:
a vehicle body provided with a traveling device;
a hydraulic pump including a swashplate configured to change an output of the hydraulic pump according to a swashplate angle;
a traveling motor including an output shaft having a rotation speed variable according to the output of the hydraulic pump and capable of transmitting power of the output shaft to the traveling device;
an angle detector configured to detect the swashplate angle that is an angle of the swashplate;
a swashplate control unit configured to control the swashplate angle on a basis of control information relating to control of the swashplate angle and an actual swashplate angle that is the swashplate angle detected by the angle detector; and
a rotation detector configured to detect the rotation speed of the output shaft of the traveling motor, wherein
the rotation speed detected by the rotation detector is defined as the control information, and the swashplate control unit:
controls the swashplate angle on a basis of the rotation speed and the actual swashplate angle;
performs control to reduce an angle deviation between a set angle of the swashplate angle and the actual swashplate angle when the angle deviation is equal to or larger than a threshold, the set angle being determined according to the rotation speed; and
maintains the set angle when the angle deviation is smaller than the threshold.