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

Claim 0:
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 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.