Patent ID: 11878732
Assignee: KOMATSU LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 1:
2. 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.