JP2002241098A - Operating range control device for high lift working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operating range control device for a high lift working vehicle provided with a telescopic basic end-side boom 3 swivelably and derrickably installed on a vehicle 1, and a tip-side boom 6 capable of changing its shape, and swivelably and derrickably installed on a tip of the basic end-side boom 3. SOLUTION: This operating range control device for the high lift working vehicle is provided with basic end-side boom operation parameter actual value detecting means 14-16, tip-side boom operation parameter actual value detecting means 17-19, a basic end-side boom derricking load detecting means 21, and an operation control signal output part 21 receiving detecting signals from detecting means 14-21, and outputting control signals to drive control parts 8a-13a of driving devices 8-13 respectively for swiveling, derricking, and expanding and contracting the basic end-side boom 3 and swiveling, expanding and contracting, and changing the shape of the tip-side boom 6, the operation control signal outputting part 21 controls the operation of the basic end-side boom 3 only by depending on the attitude of the basic end-side boom 3, and controls the operation of the tip-side boom 6 only by depending on the attitude of the tip-side boom 6.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention
A base-side boom movably and retractably mounted, a posture maintaining member attached to a distal end of the base-side boom so as to maintain a constant ground posture regardless of the raising / lowering operation of the base-side boom, The present invention relates to a working range control device for a high-altitude work vehicle, comprising a tip-side boom mounted on a posture maintaining member so as to be capable of turning, raising and lowering, and changing the shape, and a work table attached to the tip of the tip-side boom. is there.

[0002]

2. Description of the Prior Art Prior to describing the prior art of an operating range restricting device according to the present invention, an aerial work vehicle to which an operating range restricting device according to the present invention is attached will be described with reference to FIGS.

In FIGS. 2 and 3, reference numeral 1 denotes a vehicle, 2 denotes a swivel mounted on the vehicle 1 so as to be capable of turning operation, and 3 denotes a telescopically movable boom mounted on the turning base 2 so as to be able to move up and down. is there. Reference numeral 4 denotes a posture maintaining member attached to the distal end portion of the base end boom 3.
It is attached to the distal end of the proximal boom 3 via a suitable leveling device (not shown) so as to maintain a constant ground position irrespective of the elevation movement of the proximal boom 3. 5
Reference numeral denotes a turning member which is attached to the attitude maintaining member 4 so as to be capable of horizontal turning drive. Reference numeral 6 denotes a tip-side boom which is mounted on the revolving member 5 so as to be able to move up and down. Reference numeral 7 denotes a work table attached to the distal end of the distal boom 6. Work table 7
Is attached to the distal end of the distal boom via an appropriate leveling device (not shown) so as to always maintain a horizontal position regardless of the operation of the proximal boom 3 and the distal boom 6.

[0004] Reference numeral 8 denotes a turning drive for turning the base boom 3 (swing table 2), reference numeral 9 denotes a raising and lowering drive for raising and lowering the base boom 3, and reference numeral 10 denotes expansion and contraction for causing the base boom 3 to expand and contract. A driving device, 11 is a turning drive device for turning the distal boom 6 (swing member 5), 12 is a raising / lowering device for raising / lowering the distal boom 6, and 13 is a shape changing drive for changing the shape of the distal boom 6. Device.

FIGS. 2 and 3 show a tip-side boom 6 that can be flexibly operated as the tip-side boom 6 whose shape can be changed. Not only those that can be freely extended and retracted, but also those that can freely bend and extend and retract. That is, as long as the distance between the base end portion and the distal end portion can be changed by the shape changing operation of the distal end boom 6, there are various forms of the shape changing operation. The aerial work vehicle to which the operating range restricting device of the present invention is attached is not limited to the form of the shape changing operation of the distal end boom 6.

In the aerial work vehicle shown in FIG. 2, the distal boom 6 is horizontally rotated in a region above the distal end of the base boom 3 (the turning member 5 attached to the attitude maintaining member 4 so as to be capable of horizontal turning). (Through). This type of aerial work vehicle is used when a work target exists at a position considerably higher than the vehicle 1. In the aerial work vehicle shown in FIG. 3, the tip-side boom 6 can freely turn horizontally (via the turning member 5 attached to the posture maintaining member 4 so as to be able to turn horizontally) below the tip of the tip-side boom 3. Attached to.
This type of aerial work vehicle is used when a work target exists at a position lower than the vehicle 1, and is known as, for example, an aerial work vehicle for bridge inspection.

As described above, the aerial work vehicle to which the operating range restricting device of the present invention is attached is a base end boom 3 mounted on the vehicle 1 so as to be capable of turning, raising and lowering, and extending and contracting.
And a posture maintaining member 4 attached to the distal end of the base end boom 3 so as to maintain a constant ground position regardless of the raising / lowering operation of the base end boom 3. It is configured to include a distal end boom 6 movably attached and a work table 7 attached to the distal end of the distal end boom.

This kind of aerial work vehicle has an operation parameter of the base end boom 6 and an operation parameter of the distal end boom 6 as operation parameters for determining the three-dimensional space position of the work table 7. . The operation parameters of the proximal boom 6 correspond to the pivoting of the proximal boom 3 (the pivot of the swivel base 2), the undulation, and the expansion and contraction operations. The operating parameter of the distal boom 6 corresponds to the pivoting of the distal boom 6. (Swinging of the swing member 5), the undulation and the shape change are applicable. Therefore, this type of aerial work vehicle can be operated in various directions by appropriately selecting and operating the operation parameters of the base end boom 3 and the operation parameters of the distal end boom 6 according to the altitude work. It has the advantage that it can be approached from.

By the way, an operation range restricting device is attached to this kind of aerial work vehicle so as to prevent the aerial work vehicle during work from tipping over and being damaged.
FIG. 4 shows a conventional operating range restricting device. As shown in FIG. 5, the conventional operating range restricting device includes a base end boom operation parameter for detecting actual values of operation parameters of the base end boom 3 (turning, raising / lowering and extension / contraction operation of the base end boom 3). Actual value detecting means 14 to 16; tip-side boom operation parameter actual value detecting means 17 to 19 for detecting actual values of operation parameters of the tip-side boom 6 (turning, undulating and shape changing operations of the tip-side boom 3);
Base end boom undulation load detecting means 2 for detecting a load acting on the undulation drive device 9 for raising / lowering the base end boom 3
0, and each of the detection means 14 to 16, 17 to 19,
Receiving a detection signal from the base boom 3, the base boom 3 is turned, the base boom 3 is raised and lowered, the base boom 3 is extended and retracted, the tip boom 6 is turned, the tip boom 6 is raised and lowered, and the tip boom 6 is moved. Control unit 8 of each driving device 8 to 13 for changing the shape of
operation regulation signal output unit 2 for outputting a regulation signal to a to 13a
1 and 1.

[0010] Of the base end boom operation parameter actual value detecting means 14 to 16, 14 is the base end boom 3
15 is for detecting the actual value of the turning operation parameter of the base end boom 3, and 16 is for detecting the actual value of the telescopic operation parameter of the base end boom 3. Further, the tip-side boom operation parameter actual value detection means 1
Of 7 to 19, 17 is for detecting the actual value of the turning operation parameter of the distal boom 6, 18 is for detecting the actual value of the undulating operation parameter of the distal boom 6, and 19 is detecting the actual value of the shape changing operation parameter of the distal boom 6. It is for.

The operation regulation signal output section 21
The load acting on the undulation drive device 9 that drives the base boom 3 up and down is controlled by all the operating parameters of the base boom 6 and the distal boom 6 (turning, undulation, expansion and contraction of the base boom 3,
Rotation, undulation, and shape change of the distal boom 6), when the proximal boom 3 is swung, undulated, extended and contracted, and the distal boom 6 is moved in a direction to promote the excess. Restriction signals for restricting each of the operations of turning, raising and lowering, and shape changing are transmitted to the rotation driving device 8, the raising and lowering driving device 9, the telescopic driving device 10, the turning driving device 11 for the distal boom 6, and the raising and lowering of the base end boom 3. Driving device 12, shape changing driving device 1
3 to the respective drive control units 8a to 13a.

In the conventional operating range restricting device configured as described above, the load acting on the raising / lowering drive device 9 of the proximal boom 3 is controlled by the operation parameters for determining the attitude of the proximal boom 3 and the operation of the distal boom 6. If the limit value as a function of the operating parameter for determining the posture is to be exceeded, the operation of the proximal boom 3 and the distal boom 6 can be automatically regulated. It can be prevented beforehand.

However, the conventional operating range restricting device constructed as described above has an operation restricting device 9 for raising and lowering the base end boom 3 at its operation restricting signal output section 21.
The data required to determine whether the load acting on the boom is going to exceed the limit is calculated for every combination of the operating parameters for determining the attitude of the proximal boom 3 and the operating parameters for determining the attitude of the distal boom 6. It must be stored so that it can be calculated. Therefore, it is necessary to store a huge amount of data in the operation regulation signal output unit 21.

[0014]

Generally, a function is expressed as
When the variable range is discretely divided into a plurality of sections and the data necessary for calculating the function is to be stored for each of the sections by a combination of factors (parameters) stored therein, the stored data is the number of sections of the factors (parameters) related to the combination. Multiplied by Therefore, in the above-mentioned conventional operating range restricting device, since there are six operating parameters as factors of the base end boom undulation load limit value, the amount of data to be stored becomes enormous, and the device becomes complicated and expensive. is there. Further, according to the above-described operating range restricting device, the operable range of the distal boom 6 varies according to the posture of the proximal boom 3, so that the distal boom 6 frequently used in this type of aerial work vehicle is used. It is difficult for the operator to predict the operable range of the distal end boom 6 when adjusting the position of the worktable 7 by changing the posture of the work table 7, and there is a problem that work efficiency is poor.

An object of the present invention is to provide an operating range regulating device which solves the above-mentioned problems of the conventional operating range regulating device.

In order to achieve the above object, a working range restricting device for an aerial work vehicle according to the present invention according to claim 1 is provided.
The configuration is as follows. A base-side boom 3 attached to the vehicle 1 so as to be capable of turning, raising and lowering, and expanding and contracting, and a fixed ground posture is maintained at the tip of the base-side boom 3 irrespective of the raising / lowering operation of the base-side boom 3. A posture maintaining member 4 attached thereto, a distal end boom 6 attached to the posture maintaining member 4 so as to be capable of turning, raising and lowering, and a shape changing operation, and a work table 7 attached to the distal end of the distal end boom 6 are provided. Operating range restricting device for an aerial work vehicle, comprising: a base end boom operation parameter actual value detecting means 14 to 16 for detecting actual values of respective operation parameters of the base end boom 3;
Tip-side boom operation parameter actual value detection means 1 for detecting actual values of operation parameters of the tip-side boom 6 respectively
7 to 19, a base end boom hoisting load detecting means 20 for detecting a load acting on the hoisting drive device for raising / lowering the base end boom 3, the detecting means 14 to 16, 17 to 19, and 2
Receiving the detection signal from 0, turning the base end boom 3;
Drive control units 8a-9 of each of the undulating and telescopic drive units 8-10
a and an operation regulation signal output unit 21 that outputs a regulation signal to the drive control units 11a to 13a of the driving devices 11 to 13 for turning, raising and lowering the shape of the tip-side boom 6, and changing the shape.
The operation restriction signal output unit 21 stores the allowable operation range of the distal boom 6 as the allowable operation range of the distal boom, and stores the actual values of the actual values of the distal boom operation parameters 17 to 19.
When the actual operating posture of the distal boom 6 obtained from the detection signal from the target boom attempts to deviate from the permissible range of the distal boom operation according to the memory, the turning, raising and lowering of the distal boom 6 in a direction to promote the departure are performed. Control signals for restricting each operation of the shape change are transmitted to each of the driving devices 8 to 1 of the distal end boom 6.
0 to output to the drive control units 8a to 10a, and drive the base end boom 3 up and down.
The load acting on the proximal boom 3 is a limit value as a function of each operating parameter of the proximal boom 3, and the load acting on the proximal boom 3 from the distal boom 6 within the allowable range of the distal boom operation. When an attempt is made to exceed a limit value allowed under a state in which the distal boom 6 is operated so that the boom tilting direction moment is maximized, the proximal boom 6 is moved in a direction to promote the excess. It is configured to output a regulation signal for regulating each operation of turning, raising and lowering, and expansion and contraction to the drive control units 11a to 13a of the respective drive devices 11 to 13 of the base end boom 6. Work range control device for work vehicles.

According to a second aspect of the present invention, there is provided an operating range restricting device for an aerial working vehicle according to the present invention, wherein the operating restricting signal output section 21 is provided at the distal end side. The allowable working range of the distal boom stored as a function of each operating parameter of the boom 3 is such that the maximum allowable working radius of the distal end of the distal boom 6 is equal to that of the proximal boom 3.
In order to prevent lateral bending failure or torsional failure of the proximal boom 3, the distal end boom 6 has a maximum allowable working radius when pivoted in a direction along the undulation locus surface of the proximal boom 3. The maximum allowable working radius when the side boom 6 turns in a direction perpendicular to the undulation trajectory surface of the base end boom 3 is set to be small.

[0018]

The difference between the above-mentioned prior art and the operation range restricting device for an aerial work vehicle according to the present invention, which is constructed as described above and corresponds to claim 1, is as follows.
That is, in the conventional operating range restricting device, the proximal boom 3 is used by using the data related to the limit value of the proximal boom hoisting load stored as a function of the operating parameters of both the proximal boom 3 and the distal boom 6. A control signal for instructing the operation of each drive device (the turning drive device 8, the up-and-down driving device 9, and the telescopic driving device 10), and the driving devices (the turning drive device 11, the up-and-down driving device 12, and the In contrast to the generation and output of a restriction signal instructing the operation of the shape change driving device 13), the operation range restriction device of the present invention has the distal end side stored as a function of only the operation parameters of the distal end boom 6. Using the data regarding the allowable range of the boom operation, the operating rules of the driving devices (the turning drive device 11, the undulation drive device 12, and the shape change drive device 13) of the distal boom 6 are used. Is calculated and output, and each drive of the base end boom 3 is performed using the data related to the limit value of the base end boom undulation load stored as a function of only the operation parameters of the base end boom 3. The control signal for instructing the operation of the devices (the turning drive device 8, the undulation drive device 9, and the telescopic drive device 10) is calculated and output.

The working range restricting device according to the present invention having the above-described structure, the data (group) relating to the limit value of the base boom hoisting load stored in the restriction signal output section 21 and the allowable range of the distal boom operation range are stored. The data (group) has the number of operating parameters as a factor thereof reduced by half, so even if both data (groups) are added, the data stored in the regulation signal output unit 21 of the conventional operating range regulating apparatus is stored. It is much less than (group). Therefore, the amount of data stored in the operation regulation signal output unit 21 can be significantly reduced as compared with the conventional one. This makes the device simple and inexpensive.

Also, the operable range of the distal boom 6 is determined by only the operation parameters (turn, undulation, shape change) of the distal boom 6 without being affected by the posture of the proximal boom 3. It becomes easy for the operator to predict the operable range of the distal end boom 6 at the time of adjusting the position of the worktable 7 by changing the attitude of the distal end boom 6 that is frequently used in various types of aerial work vehicles. For this reason, the work efficiency of the work at height by the work vehicle at height is increased.

According to a second aspect of the present invention, there is provided an operating range restricting device for an aerial work vehicle according to the present invention, which has the same operation and effect as the above-mentioned operating range restricting device according to the first aspect, and further has an operation restricting signal output section. 21, the maximum allowable working radius of the distal end boom 6 stored as a function of each operating parameter of the distal end boom 3 is the maximum allowable working radius of the distal end boom 6 when the lateral bending fracture of the proximal end boom 3 In order to prevent the end boom 3 from being torsionally broken, the distal boom 6 is moved relative to the maximum allowable working radius when the distal boom 6 is turned in the direction along the undulation trajectory surface of the proximal boom 3. Since the maximum allowable working radius when turning in the direction perpendicular to the undulation locus surface of the side boom 3 is set to be small, there is an effect that the lateral bending failure or the torsional failure of the base end boom 3 can be prevented.

[0022]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of an operating range restricting device according to the present invention. The operation range restricting device of the present invention is the same as the configuration of the conventional operation range restricting device shown in FIG. 4 and described above, except that the operation processing for the operation restriction signal output performed by the operation restriction signal output unit 21 is different. It is.

As shown in FIG. 1, the operating range restricting device according to the present invention, like the conventional one, detects the actual values of the operating parameters of the proximal boom 3 for detecting the actual values of the operating parameters of the proximal boom 3 respectively. Detecting means 14 to 16, tip-side boom operating parameter actual value detecting means 17 to 19 for detecting actual values of respective operating parameters of the distal-side boom 6, and loads acting on the undulating drive device for raising and lowering the proximal-side boom 3 Boom undulation load detecting means 20 for detecting the load, receiving the detection signals from the detecting means 14-16, 17-19, and 20 and driving each of the driving devices 8- 10 drive control units 8a to 9a and each drive device 11 for turning, undulating, and changing the shape of the distal boom 6
And an operation regulation signal output unit 21 for outputting a regulation signal to the drive control units 11a to 13a.

The operation restriction signal output unit 21 in the operation range restriction device of the present invention, as described above, stores the data related to the limit value of the base boom hoisting load stored as a function of only the operation parameters of the base boom 3. The control signal for instructing the operation of each drive device (the turning drive device 8, the up-and-down drive device 9, and the telescopic drive device 10) of the proximal boom 3 is calculated and output, and the operation of the distal boom 6 is performed. Using the distal end boom operation permissible range-related data stored as a function of only the parameters, the operation of each drive device (the turning drive device 11, the up / down drive device 12, and the shape change drive device 13) of the tip boom 6 is instructed. The feature is that the regulation signal is calculated and output. The calculation output of the regulation signal by the operation regulation signal output unit 21, which is a characteristic part thereof, will be described below.

(Regarding the Calculation Output of a Regulation Signal for Restricting the Operation of the Tip Boom 6) The operation restriction signal output section 21 stores the allowable operation range of the distal boom 6 as the allowable operation range of the distal boom. The allowable range of the distal boom operation is determined by the operating parameters of the distal boom 6 (turn, undulation,
The shape change) is stored in the tip end boom operation allowable range storage unit 22 as a function.

The operation restriction signal output unit 21 includes an actual operation posture of the distal boom 6 obtained from the detection signals from the actual values of the distal boom operation parameter detecting means 17 to 19, and a distal boom operation allowable range storage unit 22. It is determined from time to time whether or not the actual operation posture of the distal-side boom 6 is about to deviate from the distal-side boom operation allowable range from the distal-side boom operation allowable range stored in the above.

When the actual operating posture of the distal boom 6 is to deviate from the permissible operating range of the distal boom according to the memory, the tip boom 6 is turned, raised and lowered, and the shape is changed in a direction to promote the deviation. Of each of the driving devices 1 of the distal end boom 6 is generated.
Output to the drive control units 11a to 13a.

Each of the drive controllers 11a to 13a drives a corresponding one of the drive devices 11 to 13 in a corresponding direction in response to a drive command signal (not shown) input thereto. When input, the driving of the driving devices 11 to 13 by the driving command signal is disabled.

The tip boom operation allowable range storage unit 2
2 is determined based on the strength of the distal boom 6 and the strength of the proximal boom 3 with respect to the moment acting on the proximal boom 3 from the distal boom 6 side. It is. The moment acting on the proximal boom 3 from the distal boom 6 side is changed by the pivoting operation of the distal boom 6 (the pivot member 5).
Fluctuates between a direction along the undulating trajectory plane and a direction orthogonal to the direction.

In general, the strength of the proximal boom 3 with respect to the moment when the action direction fluctuates is greater than the strength (lateral bending strength) with respect to the moment along the undulation locus surface of the proximal boom 3. The strength (lateral bending or torsional strength) against a moment acting in a direction perpendicular to the undulation locus plane is weak. For this reason, the distal end boom operation allowable range stored in the distal end boom operation allowable range storage unit 22 is used to prevent the lateral bending fracture of the proximal end boom 3 or the torsional fracture of the proximal end boom 3. When the distal boom 6 is turned in a direction perpendicular to the undulation trajectory surface of the base boom 3, the maximum allowable working radius when the wing 6 is turned in the direction along the undulation trajectory surface of the base end boom 3. The maximum allowable working radius is set to be small, thereby preventing the lateral bending failure of the proximal boom 3 and the torsional fracture of the proximal boom 3.

(Regarding the calculation output of the regulation signal for regulating the operation of the base end boom 3) The operation restriction signal output section 21 is provided with a limit value of a load that can be applied to the undulation drive device 9 for driving the base end boom 3 up and down. Is stored as a function of each operation parameter of the proximal boom 3. The limit value is stored in the limit value storage unit 23. The limit value is obtained by storing the attitude of the distal boom 6 in the distal boom operation allowable range stored in the distal boom operation allowable range storage unit 22. Under the condition, the moment of the proximal boom tilting direction (moment for causing the proximal boom 6 to fall) acting on the proximal boom 3 from the distal boom 6 is maximized. , The maximum value of the load that can be applied to the undulation drive device 9 of the base end boom 3.

The operation regulation signal output section 21 uses the detection signals from the base end boom operation parameter actual value detection means 14 to 16 as index signals and selects one of the limit values stored in the limit value storage section 23 at that time. A limit value corresponding to the actual posture of the base end boom 3 is read, and the read limit value and a detection value from the base end boom up / down load detector 20 (action to the raising / lowering drive device 9 of the base end boom 3). Actual load) and judge from time to time whether the latter value is going to exceed the former value.

When the detected value (actual load) is going to exceed the limit value, a restriction signal for restricting each operation of turning, raising and lowering the telescopic boom 3 in a direction to promote the excess. Is generated and output to the drive control units 8a to 10a of the driving devices 8 to 10 of the base end boom 3.

Each of the drive controllers 8a to 10a drives a corresponding one of the drive devices 8 to 10 in a corresponding direction in response to a drive command signal (not shown) input thereto. When input, the driving of the driving devices 8 to 10 by the driving command signal is disabled.

The working range restricting device for an aerial work vehicle according to the present invention having the above-described structure has the functions and effects described in the above-mentioned "Functions and Effects" section.

[Brief description of the drawings]

FIG. 1 is an explanatory view of an operation range restricting device for an aerial work vehicle according to the present invention.

FIG. 2 is an explanatory view showing an example of an aerial work vehicle to which the operating range restricting device of the present invention is attached.

FIG. 3 is an explanatory view showing another example of an aerial work vehicle to which the operating range restricting device of the present invention is attached.

FIG. 4 is an explanatory view of a conventional operation range restricting device for an aerial work vehicle.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1; Vehicle, 2; Swivel base, 3; Base end boom, 4; Posture maintaining member, 5; Swivel member, 6; Tip side boom, 7; Work table, 8; Drive),
8a: drive control unit, 9: undulation drive device (proximal boom 3
Drive control unit, 10a; telescopic drive device (for base end boom telescopic drive), 19a; drive control unit, 1a
1: swing drive device (for tip-side boom swing drive), 11
a: drive control unit, 12; undulation drive device (for distal end boom up / down drive), 12a; drive control unit, 13; shape change drive device (for distal end boom shape change drive), 13a; drive control unit, 14; Proximity boom operation parameter actual value detection means (rotation), 15; Proximity boom operation parameter actual value detection means (undulation), 16; Proximity boom operation parameter actual value detection means (extendable), 17; Boom operation parameter actual value detecting means (turning), 18; distal end boom operating parameter actual value detecting means (undulation), 19; distal boom operating parameter actual value detecting means (shape change), 2
0: base end boom undulation load detection means, 21: operation restriction signal output unit, 22: tip end boom operation allowable range storage unit, 2
3: Limit value storage unit (for regulating the operation of the base end boom 3)

Claims (2)

[Claims] 1. A base boom 3 mounted on a vehicle 1 so as to be capable of turning, raising and lowering, and expanding and contracting, and a fixed ground at the tip of the base boom 3 irrespective of the raising / lowering operation of the base boom 3. Posture maintaining member 4 attached to maintain posture
A tip-side boom 6 attached to the posture maintaining member 4 so as to be able to pivot, undulate, and change the shape;
A working platform 7 mounted on the distal end of a working platform for an aerial work platform, comprising: a base-side boom operating parameter for detecting an actual value of each operating parameter of the base-side boom 3. Actual value detecting means 14 to 16, distal end boom operating parameter actual value detecting means 17 to 1 for detecting actual values of respective operating parameters of the distal boom 6 respectively.
9. Base end boom undulation load detecting means 2 for detecting a load acting on the undulation drive device for raising / lowering the base end boom 3
0, receiving the detection signals from the respective detection means 14 to 16, 17 to 19, and 20, and turning, raising and lowering the base end boom 3;
An operation control signal that outputs a control signal to the drive control units 8a to 9a of the telescopic drive devices 8 to 10 and the drive control units 11a to 13a of the drive devices 11 to 13 for turning, raising, lowering, and changing the shape of the distal boom 6. The operation restriction signal output unit 21 stores the operation allowable range of the distal boom 6 as the distal boom operation allowable range, and outputs the actual value of each of the distal boom operation parameter detecting means 17 to 19. When the actual operating posture of the distal boom 6 determined from the detection signal of the above is going to deviate from the memory-operable permissible range of the distal boom, the tip boom 6 turns, undulates, and shapes in a direction to promote the deviation. A control signal for controlling each operation of the change is configured to be output to the drive control units 8a to 10a of the drive devices 8 to 10 of the distal end boom 6, and
The load acting on the undulation drive device 9 for raising and lowering the proximal boom 3 is a limit value as a function of each operating parameter of the proximal boom 3, and is within the allowable range of the distal boom 6. When the limit value allowed under the state where the distal boom 6 is operated so that the proximal boom tilting direction moment acting on the proximal boom 3 from the side is maximized is attempted to exceed the limit value, To a regulation signal for regulating each operation of turning, raising and lowering and expanding and contracting the base end boom 6 in a direction to promote the excess, and to the drive control units 11a to 13a of the driving devices 11 to 13 of the base end boom 6. An operating range regulating device for an aerial work vehicle, wherein the device is configured to output the output. An operating range restricting device for an aerial work vehicle, wherein The maximum allowable working radius of the distal boom 6 stored in the operation restriction signal output section is determined by the maximum allowable working radius of the distal end of the distal boom 6 when the lateral bending of the proximal boom 6 is broken or the proximal boom 6 is damaged. In order to prevent torsional fracture, the distal boom 6 raises and lowers the base boom 3 with respect to the maximum allowable working radius when the distal boom 6 turns in a direction along the undulation locus surface of the base boom 3. The working range restricting device for an aerial work vehicle according to claim 1, wherein a maximum allowable working radius when the vehicle turns in a direction perpendicular to the track surface is set to be small.