JP4080853B2 - Aerial work platform - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an aerial work vehicle capable of a tripping operation by non-stop control for controlling a boom tip or a workbench so as not to exceed a preset allowable work area when the boom is tilted.
[0002]
[Prior art]
In an aerial work vehicle that is equipped with an aerial work device composed of a boom and a workbench at the upper part of the vehicle body and is configured to perform the work at a high place by deploying the high work device, Since there is a range in which the vehicle body becomes unstable due to the falling moment, a safety device is provided so that the aerial work device can be deployed only within a predetermined range (allowable work area).
[0003]
In an aerial work vehicle equipped with such a safety device, for example, when an overturning operation of a boom that is extended and deployed upward is performed, the tip of the boom (workbench) when the hoisting angle of the boom falls below a certain angle Is going to exceed the limit line (regulation line) of the allowable work area, the safety device works to prevent overturning, and the boom overturning operation stops. In this case, in order to further tilt the boom, it is necessary to reduce the falling moment by shortening the boom by contracting. Therefore, when the extended boom is tilted down, it is necessary to repeat the boom tilting operation and the contracting operation, or to perform the tilting operation while the boom is contracting, which complicates the operation.
[0004]
In order to continuously perform the overturning operation from the state where the boom is extended, when the work table reaches the limit of the allowable work area, the boom is automatically contracted and the work table does not come out of the allowable work area. Therefore, there has been proposed an aerial work vehicle capable of such control (so-called “non-stop control”) in the boom overturning operation (see, for example, Patent Document 1).
[0005]
Since the safety device by the allowable work area described above also works in the turning operation of the boom, there is a range where the turning moment increases and the vehicle body becomes unstable if the turning operation is performed with the boom extended, so the same non-stop control is performed. There has also been proposed one that can be applied to a turning operation to maintain a work table in an allowable work area and can perform continuous boom turning operations (for example, see Patent Document 2).
[0006]
[Patent Document 1]
JP-A-62-211296 (page 3-4)
[Patent Document 2]
Japanese Utility Model Publication No. 3-28196 (first page, FIG. 1)
[0007]
[Problems to be solved by the invention]
However, the non-stop control described above only supports one of the boom overturning operation and the turning operation. For this reason, if the boom is pivoted while the boom is being tilted by non-stop control, if the work platform is near the limit line of the allowable work area, a sudden change in the allowable work area occurs. However, since the boom suddenly stops and the operation becomes unstable, there is a problem that safety and riding comfort are impaired.
[0008]
The present invention has been made in view of such a problem, and provides an aerial work vehicle that can stably operate an aerial work device even if a turning operation is performed during non-stop control in a boom overturning operation. The purpose is to do.
[0009]
[Means for Solving the Problems]
  In order to solve the above problems, the aerial work vehicle according to the first aspect of the present invention is configured to turn, undulate, expand and contract on the vehicle bodyEach operationA boom that is freely arranged, a workbench attached to the tip of the boom, and a boomOperated to perform each actionBased on the operation device and the operation signal from the operation device,Control to perform each operationAn operation control device (for example, the control unit 30 in the embodiment), and a boom position detection means (for example, the position detection device 20 in the embodiment) for detecting the position of the tip or workbench of the boom with respect to the vehicle body and the turning position of the boom; , For each pivot position of the boomBy boom up and down operationIt has an allowable area setting means (for example, a regulation radius calculation circuit 31 in the embodiment) for setting an allowable work area in which the tip of the boom or the work table can move. When the operation control device obtains an operation signal for tilting the boom from the operating device, the boom is tilted and the position of the tip of the boom or the workbench detected by the boom position detecting means and the allowable region setting are set. Compare with the allowable work area set in the means., According to the boom lodging operationWhen it is determined that the end of the boom or the platform exceeds the allowable work area, the boom is retracted so that the boom tip or the platform does not exceed the allowable work area.Control to continue the lodging operation ofIt is configured so that it can be laid down by non-stop control. And the operation control device is based on non-stop control.Accompanied by boom contractionWhen a turn signal is received during the boom lying downWill continue the overturning action accompanied by the boom retracting action.It is comprised so that the turning operation | movement of a boom may be controlled.
[0010]
According to such a configuration, since the turning operation cannot be performed during the boom overturning operation by the non-stop control, the allowable work area does not change rapidly, and the boom overturning operation can be stably performed. Can do.
[0011]
  The operation control device is based on non-stop control.Accompanied by boom contractionWhen the turning operation signal is received during the boom overturning operation, the boom turning operation is performed in such a direction that the allowable work area set by the allowable area setting means corresponding to the boom turning position detected by the boom position detecting means becomes narrower. It is preferably configured to regulate.
[0012]
According to such a configuration, since the boom can be turned only in the direction in which the allowable work area does not change or becomes wider, even if the turning operation is performed, this does not cause the boom to be contracted. Thus, the boom can be lowered.
[0013]
At this time, the operation control device holds the allowable work area corresponding to the turning position of the boom detected by the boom position detection means during the boom overturning operation by the non-stop control (for example, the allowable work area holding in the embodiment). When the boom is tilted by non-stop control, the operation control device does not exceed the allowable work area where the end of the boom or the work table is held by the holding means regardless of the turning position of the boom. Preferably, the boom is configured to be contracted.
[0014]
According to such a configuration, when it is determined that the tip of the boom or the work table exceeds the limit of the allowable work area, the allowable work area at that time is maintained. Since there is no change in the allowable work area, the boom contraction operation performed in accordance with the boom overturning operation is performed with constant control, and the boom overturning operation can be performed stably.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, an aerial work vehicle according to the present invention will be described with reference to FIG. The aerial work vehicle 1 has a driving cabin 2a in front of a vehicle body 2 and is configured based on a truck vehicle that can travel on front and rear wheels 3a and 3b. A swivel base 4 configured to be turnable by being driven by a swivel motor 51 is attached to the rear part of the vehicle body 2. A boom 5 is attached in a vertical plane so as to be movable up and down.
[0018]
The boom 5 is configured such that the base boom 5a, the intermediate boom 5b, and the tip boom 5c are combined in a nested manner, and can be expanded and contracted by a built-in telescopic cylinder 53. Although the boom 5 has a three-stage telescopic boom configuration here, a multi-stage telescopic boom configuration including two or four or more booms may be used.
[0019]
A vertical post 6 is pivotally connected to the tip of the tip boom 5c so as to be able to swing in the same plane (in the vertical plane) as the hoisting operation surface of the boom 5, and the boom 5 is raised and lowered by a leveling system (not shown). Regardless, the leveling control is performed so that the vertical post 6 always extends vertically. The work table 7 is attached to the vertical post 6 that is always held vertically in this manner so that it can be swung horizontally (so that it can swing freely) by a swing motor (not shown). Regardless of the undulation action, it is always held horizontally.
[0020]
Outrigger jacks 8 that can be widened in the width direction of the vehicle body 2 and can be expanded and contracted in the vertical direction are provided at four locations on the vehicle body 2 in the front, rear, left, and right directions. When working at a high place, an operator widens and extends the left and right outrigger jacks 8 in the vehicle body width direction according to the relative positional relationship with surrounding obstacles, and projects the vehicle body 2 by lifting it downward.
[0021]
In the aerial work vehicle 1 configured as described above, when the boom 5 is extended to perform a high-altitude work, the overturning moment is applied to the vehicle body 2 by the high-altitude work device composed of the boom 5 and the work table 7 and the like. Will occur. This overturning moment is stabilized by overhanging the outrigger jack 8 to lift and support the vehicle body 2. However, even if the outrigger jack 8 is extended to support the vehicle body 2, when the boom 5 is extended, if the boom 5 is tilted beyond a certain angle, the overturning moment increases and the outrigger jack 8 cannot support the vehicle body 2. A range of work equipment is possible. Thus, the position range of an aerial work apparatus that can work stably according to the extension amount of the boom 5 (for example, the work table 7 when the work table 7 is provided at the tip of the boom 5 as in this embodiment). However, the position range of the work table 7 (this position range is referred to as “allowable work area R”) will be described with reference to FIGS. 3 and 4.
[0022]
The overturning moment applied to the vehicle body 2 is determined by the undulation angle and extension amount of the boom 5. In addition, the force that supports this overturning moment is determined by the amount of extension of the outrigger jack 8 and the turning angle of the boom 5. Therefore, the work can be performed within a range in which this overturning moment can be supported. First, the allowable work area R of the work table 7 in the hoisting operation surface (vertical surface) of the boom 5 will be described with reference to FIG. FIG. 3 shows only the right region when the swivel base 4 moves the boom 5 to the right in the left-right direction of the vehicle body. In FIG. 3, L₁Is the case where the workbench 7 is above the vehicle body 2 with the boom fully retracted. At this time, if the boom 5 is operated to incline, the undulation operating line S₀And move the work table 7 to L₂It is possible to fall down to the position. In addition, since the boom 5 is in a fully contracted state, the work table 7 is connected to the hoisting operation line S.₀Cannot move inward.
[0023]
On the other hand, H₁Is a case where the work table 7 is above the vehicle body 2 with the boom 5 fully extended. In this case, up to a certain angle (for example, H in FIG.₂It is possible to stably support the vehicle body 2 with the outrigger jack 8 even if the boom 5 is tilted down. However, if the boom 5 is tilted down below that, the overturning moment increases, so the vehicle body 2 with the outrigger jack 8 increases. Cannot be supported stably. Therefore, in order to further fall the boom 5, the boom 5 must be contracted to shorten the extension amount so that the overturning moment does not exceed the range that can be supported by the outrigger jack 8. For this reason, H₂From the position of H₃In order to incline the boom 5 to the position of_VIt is necessary to adjust the extension amount by contracting the boom 5 so as not to exceed.
[0024]
Therefore, the undulation regulation line S_VAnd undulation operating line S₀When the work table 7 is within this range, the vehicle body 2 can be stably supported by the outrigger jack 8. On the other hand, the undulation regulation line S_VIf the work table 7 is moved outside, the vehicle body 2 cannot be stably supported by the outrigger jack 8, and this region is referred to as a prohibited region K.
[0025]
Next, the allowable work area R in the horizontal plane will be described with reference to FIG. FIG. 4 shows only the region on the right side in the vehicle body left-right direction when the boom 5 is raised at a certain undulation angle. In FIG. 4 as well, the turning operation line S with the boom 5 fully retracted is the same as described above.₀And a turning restriction line S indicating the range in which the boom 5 can be extended and supported by the outrigger jack 8_HAnd can be defined. A turning restriction line S indicating a range in which the work table 7 can be moved by turning the boom 5 with the boom 5 extended._HIs generally wide in the longitudinal direction of the vehicle body and narrow in the lateral direction of the vehicle body from the shape of the vehicle body 2 and the position where the outrigger jack 8 is disposed. In this case as well, the turning operation line S is the same as described above.₀And turning restriction line S_HThe allowable work area R surrounded by the circle and the turning restriction line S_HAnd the prohibited area K outside.
[0026]
In addition, undulation regulation line S_VAnd turning restriction line S_HIs determined by the extension amount of the outrigger jack 8, so that the allowable work area R becomes wider outward from the base end of the boom 5 when the extension amount is large, and narrow when the extension amount is small. Become. Also, this regulation line S_V, S_HChanges depending on the weight of the workbench 7 or the amount of moment applied to the tip of the boom 5, so that if the workbench 7 is equipped with a winch or the like, the load on the tip of the boom 5 will also be affected. (In the following description, a case where the load change at the tip of the boom 5 (workbench 7 etc.) is not considered will be described. However, an upper load detector or the like is provided to consider the change in the load on the upper part. It is also possible to calculate the allowable work area R).
[0027]
In FIG. 2, an operation device 10 is provided on the work table 7. The operation device 10 is provided with operation levers for issuing operation commands for the swivel base 4, the boom 5, and the like, and an operator who rides on the work table 7 performs a swivel operation lever 11 or a boom 5 for turning the swivel base 4. Undulation and expansion / contraction operation lever 12 for performing expansion / contraction operation (see FIG. 1).
[0028]
When the operation device 10 is operated, the operation device 10 outputs an operation signal corresponding to the operation content to a control unit (not shown in FIG. 2) provided in the vehicle body 2. The configuration of the operation control apparatus including the control unit 30 is shown in FIG. When receiving a signal from the operating device 10, the control unit 30 outputs a command signal based on the operation signal to the hydraulic unit 40. In FIG. 1, an electrical or optical signal circuit is indicated by a solid line, and a hydraulic circuit is indicated by a dotted line.
[0029]
The hydraulic unit 40 includes a tank 41 that stores hydraulic oil, a hydraulic pump 42 that is driven by an engine or an electric motor and discharges hydraulic oil of a predetermined hydraulic pressure and flow rate, and supplies hydraulic oil discharged from the hydraulic pump 42 based on a command signal. An electromagnetic proportional valve SV that controls the supply to the hydraulic actuator 50 such as the swing motor 51, the hoisting cylinder 52, and the telescopic cylinder 53 with the direction and supply amount.₁~ SV₃And an oil cooler (not shown) for cooling the operating oil whose temperature has risen. The hydraulic unit 40 is a unit that controls the operation of each hydraulic actuator 50 by controlling the flow of hydraulic oil supplied to each hydraulic actuator 50 in accordance with a command signal from the control unit 30.
[0030]
In order to obtain the operating position of the boom 5 relative to the vehicle body 2, a detection signal is input to the control unit 30 from the position detection device 20. The position detection device 20 includes a turning angle detector 21 that detects the turning angle of the turntable 4 with respect to the vehicle body 2, a undulation angle detector 22 that detects the undulation angle of the boom 5, and an extension amount detector that detects the extension amount of the boom 5. 23, and each detection value is input to the control unit 30. Further, the outrigger jack 8 is provided with a jack extension amount detector 24 for detecting the extension amount of the jack in the vehicle body width direction, and this detected value is input to the control unit 30.
[0031]
The control unit 30 includes a regulation radius calculation circuit 31, a non-stop control circuit 32, and a regulation circuit 33 inside the unit. The restriction radius calculation circuit 31 uses the turning angle, the undulation angle, the extension amount of the boom 5 and the extension amount of the outrigger jack 8 obtained from the position detection device 20 to determine the allowable work area R from the base end portion of the current boom 5. Limit line (shows the limit of the range in which the worktable can move, for example, the regulation line S in FIG. 3 or FIG. 4)_V, S_H) (This distance is referred to as “regulatory radius r”) is calculated by a preset method. The non-stop control circuit 32, upon receiving an operation signal from the hoisting / extending / retracting operation lever 12 of the operating device 10, calculates the current positions of the boom 5 and the work table 7 from the turning angle, the hoisting angle, and the amount of extension / contraction. Based on the restriction radius r obtained from the restriction radius calculation circuit 31, the hoisting cylinder 52 and the telescopic cylinder 53 are non-stop controlled, and a restriction signal is sent to the restriction circuit 33 in order to restrict the turning operation during the non-stop control. . The regulation circuit 33 regulates the turning operation of the boom 5 during non-stop control. When a signal from the turning operation lever 12 is obtained, the restriction circuit 33 restricts this signal to control the turning motor 51. Since the regulation radius r is affected by the load loaded on the work table 7 as described above, the work radius r is calculated in the regulation radius calculation circuit 31 in consideration of the load (condition) of the work table 7. It is also possible to configure so as to.
[0032]
The non-stop control means that when the boom 5 is tilted, the work table 7 is moved up and down._VWhen the boom 5 is determined to enter the prohibited area K, the boom 5 is contracted simultaneously with the fall operation, and control is performed so that the work table 7 is maintained in the allowable work area R. This is a control that makes it possible to operate the vehicle. In such an aerial work platform 1, a mode changeover switch (not shown) is attached to the operating device 10, so that it is possible to switch between the normal operation of lowering the boom 5 and the operation of lowering the boom 5 by non-stop control. ing. Therefore, when the operation of the boom 5 is set to the non-stop control mode, the inclining operation by the non-stop control of the boom 5 can be performed only by the inclining operation by the raising / lowering / extending / contracting operation lever 12.
[0033]
If the turning operation of the boom 5 is simultaneously performed during the overturning operation by the non-stop control of the boom 5 as described above, the regulation radius r changes abruptly as apparent from FIG. (R becomes narrow), the boom 5 may suddenly stop operating, or the operation may become unstable (jerky movement). Therefore, during the fall operation by the non-stop control of the boom 5 as described above, the fall operation by the non-stop control of the boom 5 can be stably performed by restricting the turning of the boom 5. In the aerial work vehicle 1 according to the present invention, the turn restriction line S from the work table 7._HThe control unit 30 is configured so as to restrict the turning of the boom 5 in the direction in which the distance to the distance is shortened, that is, in the direction in which the regulation radius r is reduced and the allowable work area R is narrowed. For example, in FIG. 4, when the work table 7 is at the position A, the work radius r does not change even if the work table 7 is turned in the left-right direction, so that the boom 5 can be turned, but at the position B. Sometimes, when the boom 5 is turned to the right, the restriction radius r is shortened. Therefore, the non-stop control circuit 32 determines a change in the restriction radius r and sends a restriction signal to the restriction circuit 33. The restriction signal is restricted based on the restriction signal. The circuit 33 regulates the turning of the boom 5 in the right direction. Therefore, in this case, only a turning operation in the left direction is possible.
[0034]
According to such a configuration, even if the turning operation of the boom 5 is performed, the turning is performed in such a direction that at least the restriction radius r does not decrease. Therefore, the non-stop control at the position immediately before starting the turning operation can be maintained. In addition, it is possible to stably perform the collapse operation of the boom 5 and the operation of contracting the boom 5 so that the work table 7 does not exceed the allowable work area R accompanying this operation. In addition, when the work table 7 is located at the position B in FIG. 4, the restriction radius r increases when turning leftward, so that the region in which the boom 5 is contracted is reduced, and the collapse operation and the contraction operation of the boom 5 are performed simultaneously. The area to be performed is reduced, and the boom 5 can be operated more stably.
[0035]
However, in the case of the configuration of the control unit 30 as described above, when the boom 5 is turned, the turning restriction line S_HIf the work table 7 is in the vicinity, the recalculation of the regulation radius r associated with the turning operation becomes complicated, so that the control of the boom 5 by the control unit 30 is also complicated. Therefore, the boom 5 is operated to fall down and the allowable work area R (regulation line S_V, S_H) Exceeds the work table 7 (for example, H in FIG. 3).₁From the position of H₂The hoisting restriction line S on the hoisting operation surface (in the vertical plane) of the boom 5 when the work table 7 is moved to the position_VThe control unit 30 is provided with an allowable work area holding memory 34 that holds (determined from the work radius r), and is held in the allowable work area holding memory 34 in the subsequent tilting operation of the boom 5 by non-stop control. Undulation regulation line S_VThus, the boom 5 can be controlled.
[0036]
According to such a configuration, as shown in FIG. 5, the original turning restriction line S in the horizontal plane is obtained._H1Compared to the undulation regulation line S in the undulation operation surface of the boom 5 held in the allowable work area holding memory 34._VWhen the boom 5 is turned in response to the turning control line S in the horizontal plane,_H2Therefore, the allowable work area R becomes narrow, but it is not necessary to recalculate the regulation radius r regardless of the turning angle of the boom 5, so that the control unit 30 can have a simple structure. Since the control is not complicated, stable control of the boom 5 can be realized.
[0037]
In the above-described embodiment, the control unit 30 configured to restrict the turning operation in the direction in which the restriction radius r decreases during the lying down operation of the boom 5 by the non-stop control has been described. It is possible to prohibit the turning operation during the fall operation of the boom 5 due to the above. By adopting such a configuration, the influence of the turning of the boom 5 on the non-stop control is eliminated, so that the control unit 30 can have a simple configuration and the turning operation is not performed at the same time. The control 5 can be performed stably.
[0038]
Alternatively, the regulation line S corresponding to the position of the boom 5 is not regulated without restricting the turning operation during the lying down operation of the boom 5 by the non-stop control._V, S_HIt is also possible to configure the boom 5 to be contracted according to the above. By adopting such a configuration, the control unit 30 can move from the working radius r to the regulation line S in accordance with the turning operation of the boom 5._V, S_HIt is necessary to calculate and calculate the lowering operation, the contracting operation and the turning operation of the boom 5 at the same time. However, since the turning operation can be performed together with the falling operation, the work efficiency can be improved. .
[0039]
In the above-described embodiment, the allowable work area R is calculated as the restriction radius r from the turning angle of the boom 5, the undulation angle, the extension amount, and the extension amount of the outrigger jack 8 in the control unit 30. It is also possible to store the positions of R and the prohibited area K in a memory in advance and use the stored areas. Further, by adding an area in which the boom 5 and the work table 7 interfere with the vehicle body 2 and the devices disposed on the vehicle body 2 to the prohibited area K, the operation control of the boom 5 can be performed more safely. be able to.
[0040]
In the raising / lowering operation of the boom 5, the above-described non-stop control is basically a case of the overturning operation. However, the same control can be performed in the standing operation of the boom 5.
[0041]
【The invention's effect】
As is apparent from the above description, the aerial work vehicle according to the first aspect of the present invention is configured such that the operation control device regulates the boom turning operation during the boom overturning operation by the non-stop control. Therefore, the allowable work area due to the boom turning operation does not change, and the boom hoisting operation can be performed stably.
[0042]
Further, according to the aerial work vehicle according to the second aspect of the present invention, as a restriction of the turning operation during the boom overturning operation by the non-stop control, from the position of the tip of the boom or the work platform to the limit of the allowable work area. By restricting the turning operation in the direction in which the distance becomes shorter (that is, the direction in which the allowable work area becomes narrower), the boom can be turned only in the direction in which the distance from the limit of the allowable work area does not change or becomes wider. Therefore, stable boom control can be performed.
[0043]
At this time, the operation control device has a holding means for holding the allowable work area at the turning position when it is determined that the tip of the boom or the work table exceeds the limit of the allowable work area, and the holding means includes the allowable work area. After the area is held, the operation control device causes the boom to be contracted so that the position of the tip of the boom or the work table does not exceed the allowable work area held by the holding means regardless of the turning angle of the boom. It is preferable that the configuration is such that the allowable work area does not change regardless of the turning operation of the boom, so that the boom can be controlled stably.
[0044]
  Or according to the aerial work vehicle which concerns on 3rd this invention,Regardless of the turning angle of the boom, it is not necessary to recalculate the regulation radius r, so that the control unit can be made simple, and since complicated control is not required, stable control of the boom 5 can be realized. is there.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an operation control apparatus according to the present invention.
FIG. 2 is a side view showing an aerial work vehicle according to the present invention.
FIG. 3 is a view showing an allowable work area in a boom hoisting surface (in a vertical surface) in an aerial work vehicle according to the present invention.
FIG. 4 is a diagram showing an allowable work area in a horizontal plane in an aerial work vehicle according to the present invention.
FIG. 5 is a diagram showing an allowable work area when holding the undulation restriction line in the boom undulation surface (in the vertical plane) when the work platform is placed on the restriction line.
[Explanation of symbols]
1 aerial work vehicle
2 body
5 Boom
10 Operating device
20 Position detection device (boom position detection means)
30 Control unit (operation control device)
31 Regulation radius calculation circuit (allowable area setting means)
33 Regulatory circuit
34 Allowable work area holding memory (holding means)
R Allowable work area

Claims (3)

A boom in which each operation of turning, undulation and expansion / contraction is freely arranged on the vehicle body,
A workbench attached to the tip of the boom;
An operating device operated to perform each operation of the boom;
An operation control device for controlling each operation of the boom based on an operation signal from the operation device;
Boom position detection means for detecting the position of the tip of the boom or the work table with respect to the vehicle body and the turning position of the boom;
A permissible area setting means for setting a permissible work area in which the tip of the boom or the work table can be moved by the boom swinging and extending and retracting operation for each boom turning position;
The operation control device, when obtaining the operation signal for lodging operating the boom from the operating device, with is collapsed operating the boom, the tip of the boom detected or the worktable by the boom position detecting means And the allowable work area set in the allowable area setting means are compared, and it is determined that the tip of the boom or the work table exceeds the allowable work area in response to the boom overturning operation. can is laid down operation by non-stop control for controlling to continue the lodging operation of the boom so that the tip portion or the worktable of the boom by condensation actuated while lodging operating the boom does not exceed the allowable working region In an aerial work vehicle configured as such,
When the operation control device receives a turning operation signal during the overturning operation accompanied by the boom contraction operation by the non-stop control, the operation control device continues the overturning operation accompanied by the boom contraction operation . An aerial work vehicle characterized in that it is configured to restrict the turning operation. The operation control device corresponds to the boom turning position detected by the boom position detecting means when receiving a turning operation signal during the boom overturning operation accompanied by the boom contraction operation by the non-stop control. The aerial work vehicle according to claim 1, wherein the boom working vehicle is configured to regulate a turning operation of the boom in a direction in which the allowable work area set by the allowable area setting means is narrowed. The operation control device has holding means for holding the allowable work area corresponding to the turning position of the boom detected by the boom position detection means at the time of the tilting operation of the boom by the non-stop control;
During the boom overturning operation by the non-stop control, the operation control device does not exceed the allowable work area where the tip of the boom or the work table is held by the holding means regardless of the turning position of the boom. The aerial work vehicle according to claim 2, wherein the boom is configured to be contracted as described above.

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