| 摘要 |
PROBLEM TO BE SOLVED: To always ground four wheels even on an irregular road by providing a fixing axle device and swinging axle device. SOLUTION: A wheel traveling device for a working vehicle is constituted by providing a swinging axle device 10 and a fixing axle device 20 which have the right and left wheels 15 and 25 in the front and rear of a traveling body 2. The swinging axle device 10 is provided with a swinging axle device 11 which is swingably mounted on the traveling body 2 and swing control cylinders 16 and 17 which control this swing. A center of gravity position detector 34 which determines a position of the center of gravity of a vehicle excluding the swinging axle device 11 is provided, and a triangle-shaped swingable area which is formed by linking grounding points of the right and left wheels of the fixing axle device and the center point of swinging is determined. When the center of gravity of the vehicle is within the swingable area, swing of the swinging axle device 11 is allowed, and when the center of gravity of the vehicle is outside the swingable area, the swing of the swinging axle device 11 is controlled.
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