JP2003267696A - Flexing boom working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent an interference between a lower boom, an upper boom and a work platform, and a vehicle body and a vehicle-body-mounted object. <P>SOLUTION: A flexing boom working vehicle has a derricking angle detector 22 for the lower boom in relation to the vehicle body, a slewing angle detector 21, a flexing angle detector 24 for the upper boom in relation to the lower boom, an extension detector 23 for the lower boom, an extension detector 25 for the upper boom, and a prohibited area memory 32 storing a preset prohibited area to prevent the lower boom, the upper boom and the work platform from interfering with the vehicle body and the mounted object on the vehicle body. A control unit 30 limits operations of the lower boom and upper boom according to a detection result of each detector so that operating positions of the lower boom, upper boom and work platform do not enter the prohibited area. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a telescopic movement on a vehicle body,
A lower boom mounted so that it can be raised and lowered and swung freely,
The present invention relates to a bending boom work vehicle having an upper boom that is attached to the tip of a lower boom so as to be able to extend and retract and can be raised and lowered, and a work platform that is attached to the tip of the upper boom.

[0002]

2. Description of the Related Art Bending and retracting boom work vehicles as described above have been widely used, and a lower boom is provided on a vehicle body such as a truck chassis which is capable of traveling and moving so that it can be extended, retracted, and swung. The lower boom is provided with an upper boom that can be extended and retracted and raised and lowered, and a workbench at the tip of the upper boom, the floor surface of which is always kept horizontal. The workbench is provided with an operation device for operating the lower boom and the upper boom, and the vehicle body side is provided with an operation control device for receiving the operation signal from the operation device and controlling the operation of the lower boom and the upper boom.

By operating the operating device, a worker who rides on the workbench makes the lower boom extend and retract, raise and lower, and swing, and the upper boom extend and retract and raise and lower to move the workbench to a desired height. However, when the work table is moved in this way, the lower boom and the car body or a large tool box mounted on the car body (hereinafter referred to as the car body mounted object) are There is a risk of interference.

Therefore, the bending angle for detecting the undulation angle of the lower boom is set so that the lower boom does not approach the vehicle body or the bodywork for a predetermined distance (a sufficient distance without the risk of interference) in the bending boom work vehicle. The current lower boom position is calculated from the detector and the swing angle detector that detects the swing angle of the lower boom, and the calculated lower boom position is set in advance in consideration of the bodywork. It is known that the operation of the lower boom is restricted when the vehicle enters the vehicle (for example, see Patent Document 1).

[0005]

[Patent Document 1] Japanese Patent Laid-Open No. 9-267996

[0006]

However, the bending-type boom work vehicle has two types of booms, that is, the lower boom and the upper boom described above. Therefore, as described in Patent Document 1, even if the lower boom is controlled so as not to reach the prohibited area, the upper boom and the work platform may reach the prohibited area and interfere with the vehicle body structure depending on the operation of the upper boom. There was a risk of doing it.

The present invention has been made in view of the above problems, and prevents the lower boom, the upper boom, and the workbench from interfering with the vehicle body and the vehicle body structure while setting the prohibited area closer to the vehicle body. It is an object of the present invention to provide a bending-type boom work vehicle that can be used and has a wider work area.

[0008]

In order to achieve the above object, the present invention is directed to a vehicle body, a lower boom mounted on the vehicle body so as to be able to extend and retract, move up and down, and swivel, and extend and retract to the tip of the lower boom. An upper boom that can be moved up and down freely, a work platform that is at least swingably mounted on the tip of the upper boom, an operating device that operates the lower boom, the upper boom, and the work platform, and based on operation signals from the operating device. A lower boom position detecting means for detecting an operating position of the lower boom with respect to the vehicle body in a bending / extending boom work vehicle including an operation control device (for example, the control unit 30 in the present embodiment) that controls the operation of the lower boom, the upper boom, and the workbench. For example, the position detecting device 20) in this embodiment and an upper boot for the tip of the lower boom are used. Upper boom position detecting means for detecting the operating position (e.g., definitive embodiment the position detecting apparatus 2
0), a workbench position detecting means for detecting the working position of the workbench with respect to the tip of the upper boom (for example, the position detecting device 20 in the present embodiment), the lower boom, the upper boom and the workbench, and the bodywork on the vehicle body. And a storage unit (for example, a prohibited area memory 32 in the present embodiment) that stores a prohibited area set in advance in order to prevent interference with the. Then, the actuation control device, when actuating the lower boom, the upper boom and the work platform based on the operation signal, the operating position of the lower boom detected by the lower boom position detecting means, the operating position of the upper boom detected by the upper boom position detecting means, and The operation of the lower boom and the upper boom is restricted so that the position of the workbench detected by the workbench position detection means does not enter the prohibited area stored in the storage means.

With such a structure, it is possible to set a prohibited area closer to the vehicle body and the vehicle body structure while preventing interference between the lower boom, the upper boom and the work platform and the vehicle body and the vehicle body structure. become. As a result, the work area can be expanded, and work in high places can be performed efficiently.

An outrigger jack mounted on the vehicle body to project laterally and downwardly to support the vehicle body, and a jack overhang amount detecting means for detecting the overhang amount of the outrigger jack in the vehicle width direction (for example, the present embodiment). In the example, the jack overhang detector 27) and a forbidden area for variably setting the forbidden area stored in the storage means according to the overhang amount of the outrigger jack in the vehicle width direction detected by the jack overhang detecting means. You may comprise by setting means (for example, the prohibition area | region setting part 33 in a present Example).

With such a configuration, the prohibited area can be appropriately set according to the widening state of the outrigger jack, so that the prohibited area can be set to a necessary minimum and a wide working area can be obtained. it can.

Further, a hoisting angle detector for detecting a hoisting angle of the lower boom with respect to the vehicle body, a turning angle detector for detecting a turning angle of the lower boom with respect to the vehicle body, and a bending and stretching angle detector for detecting a hoisting angle of the upper boom with respect to the lower boom. , Lower extension amount detector that detects the extension amount of the lower boom, Upper extension amount detector that detects the extension amount of the upper boom, Lower undulation angle detector, Flexion angle detector, Lower extension amount detector and Upper undulation angle detection And a boom lower surface position calculating means (for example, the arithmetic processing circuit 31 in the present embodiment) for calculating the lower surface position of the upper boom with respect to the vehicle body based on the detection result of the device, and the operation control device is calculated by the boom lower surface position calculating means. The operation of the lower boom and upper boom is restricted so that the lower surface of the upper boom does not enter the prohibited area. It may be configured to so that.

With such a structure, the lower boom, the upper boom, and the workbench are prevented from interfering with the vehicle body and the vehicle body structure, while the vehicle is prohibited closer to the vehicle body and the vehicle body structure according to the lower surface position of the upper boom. You will be able to set the area. As a result, a wider work area can be secured and work at high places can be performed efficiently.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION A preferred embodiment of a bending boom type aerial work vehicle according to the present invention will be described below with reference to the drawings. As an example of a bending / bending boom type aerial work vehicle according to the present invention, FIG. 2 shows a bending / bending type boom work vehicle in which a lower boom and an upper boom can be freely extended and retracted. The bending boom working vehicle 1 has a driving cabin 2 in front of a vehicle body 2.
It is configured based on a truck vehicle having a and capable of traveling with front and rear wheels 3a and 3b. A turning motor 5 is provided at the rear of the vehicle body 2.
A swivel base 4 configured to be horizontally swiveled by being driven by 1.
The lower boom 5 is attached to the upper part of the swivel base 4 so that the base end portion is pivotally connected to the upper and lower parts, and the lower boom 5 can be moved up and down in a vertical plane by the expansion and contraction operation of the up and down cylinder 52.

The lower boom 5 is composed of a lower first boom 5a and a lower second boom 5b. The lower second boom 5b is telescopically inserted into the lower first boom 5a, and a lower telescopic cylinder incorporated in the lower boom. It is configured to be capable of expanding and contracting by being driven by 53 (see FIG. 1).

An upper boom 6 is pivotally connected to the tip of the lower second boom 5b so that the upper boom 6 can be moved up and down (referred to as bending and extending) with respect to the lower boom 5, and the bending and stretching cylinders 54 arranged on the left and right of the upper boom 6 are extended and contracted. Thus, the lower boom 5 can be bent and extended with respect to the same plane as the undulating operation surface. The upper boom 6 is the upper first boom 6
a and an upper second boom 6b, the upper second boom 6b is telescopically fitted into the upper first boom 6a, and the upper telescopic cylinder 55 incorporated in the boom is also included.
The expansion / contraction operation is configured by the operation (see FIG. 1).

A vertical post 7 is pivotally connected to the tip of the upper second boom 6b so as to be swingable in the same plane (in the vertical plane) as the undulating / flexing operation planes of the lower boom 5 and the upper boom 6. The leveling system controls the leveling so that the vertical post 7 always extends vertically regardless of the undulation angle of the lower boom 5 and the bending angle of the upper boom 6. Then, the swing motor 56 (see FIG. 1) is attached to the vertical post that is always held vertically in this way.
The workbench 8 is attached so as to be horizontally rotatable (pivotable), and the floor surface of the workbench 8 is always kept horizontal regardless of the erection operation of the lower boom 5 and the bending operation of the upper boom 6.

Outrigger jacks 17 (17L, 17R) are provided at four locations on the front, rear, left and right sides of the vehicle body 2 so as to be wide in the width direction of the vehicle body 2 and extendable in the vertical direction. When performing work in high places, depending on the relative positional relationship with the surrounding obstacles, the worker may have left and right outrigger jacks 17L and 17R.
Are expanded and extended in the width direction of the vehicle body, and are extended downward to lift and support the vehicle body 2.

An operating device 10 is provided on the workbench 8 (see FIG. 1). The operation device 10 is provided with operation levers for issuing operation commands for the swivel base 4, the lower boom 5, the upper boom 6, and the like, and an operator on the workbench 8 performs a swivel operation of the swivel base 4, raising and lowering the lower boom 5, and raising and lowering. Telescopic operation, up and down operation of upper boom 6 and telescopic operation, workbench 8
It is possible to perform swinging operations and the like.

When the operation device 10 is operated, the operation device 10 outputs an operation signal corresponding to the operation content to the control unit 30 provided on the vehicle body 2.
FIG. 1 shows the configuration of an operation control device including the control unit 30. When the control unit 30 receives the operation signal from the operation device 10, the control unit 30 outputs a command signal based on the operation signal to the hydraulic unit 40. In addition, in FIG. 1, the electrical or optical signal circuit is shown by a solid line, and the hydraulic circuit is shown by a dotted line.

The hydraulic unit 40 uses a tank 41 for storing hydraulic oil, a hydraulic pump 42 driven by an engine or an electric motor to discharge hydraulic oil of a predetermined hydraulic pressure and flow rate, and hydraulic oil discharged from the hydraulic pump 42 as a command signal. Based on the supply direction and the supply amount based on the swing motor 51 and the undulating cylinder 52
And the like, and electromagnetic proportional valves SV _{1 to} SV _{7 for} controlling supply to the hydraulic actuator 50, an oil cooler (not shown) for cooling the hydraulic oil whose temperature has risen, and the like. The hydraulic unit 40 is a unit that controls the flow of hydraulic oil supplied to each hydraulic actuator 50 according to a command signal from the control unit 30 and thus controls the operation of each hydraulic actuator 50.

The control unit 30 uses the position detecting device 20 to determine the operating position of the lower boom 5 with respect to the vehicle body 2, the operating position of the upper boom 6 with respect to the tip of the lower boom 5, and the operating position of the workbench 8 with respect to the tip of the upper boom 6. The detection signal is also input. The position detection device 20 detects a turning angle detector 21 for detecting a turning angle of the swivel base 4 with respect to the vehicle body 2, a hoisting angle detector 22 for detecting a hoisting angle of the lower boom 5, and an extension amount of the lower second boom 5b in the lower boom 5. A lower extension detector 23 for detecting,
A flexion / extension angle detector 24 that detects the flexion / extension angle of the upper boom 6 with respect to the lower boom 5, an upper extension amount detector 25 that detects the extension amount of the upper second boom 6b in the flexion / extension boom 6, and a swing angle with respect to the tip of the upper boom 6 are detected. It is composed of a swing angle detector 26, and each detected value is input to the control unit 30. Also,
The outrigger jacks 17L and 17R have a jack overhang amount detector 2 for detecting the overhang amount of the jack in the vehicle width direction.
7 is provided, and the detected value is input to the control unit 30.

The control unit 30 has an arithmetic processing circuit 31, a prohibited area memory 32, and a prohibited area setting section 33 inside the unit. The arithmetic processing circuit 31 operates the operating position of the lower boom 5 with respect to the vehicle body 2, the operating position of the upper boom 6 with respect to the tip of the lower boom 5, and the work platform 8 with respect to the tip of the upper boom 6 based on the detection signal input from the position detection device 20. The operating position is calculated and calculated. The prohibited area memory 32 stores a prohibited area which is set in advance to prevent the lower boom 5, the upper boom 6, and the workbench 8 from interfering with the vehicle body 2, the bodywork, and the like. The prohibited area setting unit 33 includes the outrigger jack 17 detected by the jack overhang detector 27.
The forbidden area stored in the forbidden area memory 32 is variably set in accordance with the overhang amount in the vehicle body width direction.

Although the prohibited area setting unit 33 is configured to variably set the prohibited area according to the amount of extension of the outrigger jack 17, it depends on the operating positions of the lower boom 5, the upper boom 6, and the workbench 8. Alternatively, the prohibited area may be variably set.

The control unit 30 detects the operating position of the lower boom 5 with respect to the vehicle body 2, the operating position of the upper boom 6 with respect to the tip of the lower boom 5, and the operating position of the workbench 8 with respect to the tip of the upper boom 6 from the position detecting device 20. Based on the operating position and the operation signal input from the operating device 10, the operating positions of the lower boom 5, the upper boom 6, and the workbench 8 are prevented from entering the prohibited area. Moreover, the operation of the lower boom 5 and the upper boom 6 is restricted. When the operation is restricted in this way, an alarm device 80 such as a display lamp and a buzzer provided on the operation device 10 informs that the operation is restricted.

The present invention is not limited to the above-described example. For example, the control unit 30 calculates the lower surface position of the upper boom 6 and the lower boom position so that the lower surface position of the upper boom 6 does not enter the prohibited area. 5
Alternatively, the operation of the upper boom 6 may be restricted. The operation regulation based on the lower surface position of the upper boom 6 will be described below with reference to FIG.

First, in the control unit 30, the hoisting angle θ ₁ of the lower boom 5 with respect to the vehicle body 2 detected by the hoisting angle detector 22 and the bending angle θ of the upper boom 6 with respect to the lower boom 5 detected by the bending angle detector 24. ₂ is input in advance. In addition, the position detection device 2
Based on the detection result of 0, the arithmetic processing circuit 31 in the control unit 30 controls the distance r from the center of the swivel base 4 to the tip of the upper boom 6 (hereinafter referred to as the turning radius r) and the tip of the upper boom 6 with respect to the vehicle body 2. The height h up to is calculated in advance. The prohibited area memory 32 stores the restricted radius R _lim and the restricted height H _lim at the position on the boundary of the prohibited area K.

Then, the control unit 30 uses the arithmetic processing circuit 31 to make the turning radius r and the regulation radius R _lim.
Compare with. When r <R _lim , the operation of the lower boom 5 and the upper boom 6 is restricted (so that the upper boom 6 and the workbench 8 do not enter the prohibited area K). On the other hand, when r ≧ R _lim , the difference Δr between the turning radius r and the regulation radius R _lim is calculated using the following equation (1).

[0029]

## EQU1 ## Δr = r-R _lim (1)

Then, using the following equation (2), the height (vertical distance) Δh to the lower surface position of the upper boom 6 with respect to the tip of the upper boom 6 is obtained.

[0031]

## EQU2 ## Δh = sin θ ₃ × ΔR / cos θ ₃ (2) where θ ₃ = θ ₁ −θ ₂ .

That is, the upper boom 6 for the vehicle body 2
The height (vertical distance) H of the lower surface position of can be expressed by the following equation (3).

[0033]

[Equation 3] H = h + Δh (3)

The height H of the lower surface position of the upper boom 6 relative to the vehicle body 2 thus obtained and the regulation height H _lim.
Compare with. When H <H _lim , the operations of the lower boom 5 and the upper boom 6 are restricted (so that the upper boom 6 and the workbench 8 do not enter the prohibited area K). On the other hand, when r ≧ H _lim , the lower boom 5 and the upper boom 6 are allowed to operate until H <H _lim . The operation of the lower boom 5 also includes a swinging motion of the swivel base 4 to which the base end of the lower boom 5 is attached.

Specific examples using the present invention will be described below.
This will be described with reference to FIGS. First, in any case, the bending / bending boom work vehicle 1 of the present invention is stopped at a desired place, and the outrigger jacks 17 (17L, 17L, 17L, 17L).
R) is projected laterally and grounded to support the vehicle body 2 horizontally and stably. Then, the worker gets on the workbench 8 stored on the vehicle body and operates the operating device 10.

In the bending work vehicle 1 at the positions A, C and E shown in FIGS. 4 to 6, the hoisting angle of the lower boom 5 (the lower boom 5 relative to the vehicle body 2) is α,
The bending angle of the upper boom 6 (with respect to the lower boom 5) is β, the lower surface position of the upper boom 6 is outside the prohibited region K, and the lower boom 5 and the upper boom 6 can be operated in all directions.

For example, as shown in FIG. 4, when the operator operates the operating device 10 to shorten the lower boom 5 in the direction of arrow a from the position A, the lower surface position of the upper boom 6 is in the prohibited area. When the position B on the boundary b of K is reached, the control unit 30 operates the lower boom 5 moving to enter the boundary of the prohibited area K (for example, to prevent the lower surface position of the upper boom 6 from interfering with the vehicle body 2). , Shortening movement) and the operation of the upper boom 6 (for example, bending / extending movement approaching the vehicle body 2) are restricted. It should be noted that the operation of the lower boom 5 also includes the swing motion of the swivel base 4.

For example, as shown in FIG. 5, when an operator operates the operating device 10 from the state of position C to bend and extend the lower boom 5 in the direction of arrow c (β '<β), the upper boom 6 is moved. When the lower surface position (corresponding to the tip position of the upper boom 6 in this example) reaches the position D on the boundary d of the prohibited area K, the control unit 30 prevents the tip of the upper boom 6 and the vehicle body 2 from interfering with each other. Therefore, the operation of the lower boom 5 (for example, raising and lowering) and the operation of the upper boom 6 (for example, bending and extending in the direction of arrow c) that move by entering the boundary of the prohibited area K are restricted. It should be noted that the operation of the lower boom 5 also includes the swing motion of the swivel base 4.

For example, as shown in FIG. 6, when an operator operates the operating device 10 from the position E to tilt the lower boom 5 in the direction of arrow e (α '<α), the upper boom 6 is moved. When the lower surface position of the vehicle reaches a position F on the boundary f of the prohibited area K, the control unit 30 moves into the boundary of the prohibited area K in order to prevent the lower surface position of the upper boom 6 and the vehicle body 2 from interfering with each other. The operation of the lower boom 5 (e.g., fall-down movement) and the operation of the upper boom 6 (e.g., bending / extending movement to approach the vehicle body 2) are restricted. It should be noted that the operation of the lower boom 5 also includes the swing motion of the swivel base 4.

As described above, in the present invention, the prohibited area can be set based on the operating position of the upper boom 6, the operating position of the workbench 8, or the lower surface position of the upper boom 6. As a result, lower boom 5, upper boom 6
While the workbench 8 is prevented from interfering with the vehicle body 2 and the vehicle body structure, the prohibited area can be set closer to the vehicle body 2, and the work area is expanded accordingly, and work in high places can be performed efficiently. It can be done well. In addition, the operator can operate the operation device 10 without being concerned about such interference, which can reduce the burden on the operator and enhance the safety.

[0041]

As described above, according to the present invention,
When the operation control device operates the lower boom, the upper boom, and the work platform based on the operation signal, the lower boom position detection unit detects the lower boom operation position, the upper boom position detection unit detects the upper boom operation position, and the work platform position. The operation of the lower boom and the upper boom is regulated so that the position of the workbench detected by the detection means does not enter the prohibited area stored in the storage means. With such a configuration, it is possible to set a prohibited area closer to the vehicle body and the vehicle body structure while preventing the lower boom, the upper boom, and the workbench from interfering with the vehicle body and the vehicle body structure. The work area can be expanded.

The jack overhang amount detecting means for detecting the overhang amount of the outrigger jack in the vehicle width direction and the overhang amount of the outrigger jack in the vehicle width direction detected by the jack overhang detecting means. It is also possible to have a prohibition area setting means for variably setting the prohibition area stored in the storage means. With such a configuration, the prohibited area can be suppressed to a necessary minimum according to the widening state of the outrigger jack, and a wide working area can be obtained.

Further, the operation control device may be configured to restrict the operation of the lower boom and the upper boom so that the lower surface position of the upper boom calculated by the boom lower surface position calculating means does not enter the prohibited area. With such a configuration, the prohibited area can be set closer to the vehicle body and the bodywork according to the position of the lower surface of the upper boom, so that a wider work area can be secured and the high place can be efficiently used. You can do the work.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an operation control device used in a bending and extension boom work vehicle according to the present invention.

FIG. 2 is a perspective view of a bending / extending boom work vehicle according to the present invention.

FIG. 3 is a view showing a prohibited area of the bending boom working vehicle according to the present invention.

FIG. 4 is a diagram for explaining a specific example using the bending and extension boom work vehicle according to the present invention.

[Fig. 5] Fig. 5 is a diagram for explaining a specific example using the bending and stretching boom work vehicle according to the present invention.

FIG. 6 is a view for explaining a specific example using the bending and stretching boom work vehicle according to the present invention.

[Explanation of symbols]

1 Bending and Retracting Boom Work Vehicle 2 Vehicle Body 5 Lower Boom 6 Upper Boom 8 Workbench 10 Operating Device 17 Outrigger Jack 20 Position Detecting Device (Lower Boom Position Detecting Means, Upper Boom Position Detecting Means, and Work Bench Position Detecting Means) 21 Swing Angle Detector 22 Raised Angle Detector 23 Lower extension amount detector 24 Flexion angle detector 25 Upper extension amount detector 26 Swing angle detector 27 Jack overhang amount detector (jack overhang detecting means) 30 Control unit (operation control device) 31 Calculation processing Circuit (boom bottom surface position calculation means) 32 prohibited area memory (storage means) 33 prohibited area setting section (forbidden area setting means)

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Futoshi Kobayashi             1015 1152 Yamashita, Ryoke, Ageo City, Saitama Prefecture               Aichi Corporation Ageo Kogyo             Inside the hall (72) Inventor Hiroaki Mizuguchi             1015 1152 Yamashita, Ryoke, Ageo City, Saitama Prefecture               Aichi Corporation Ageo Kogyo             Inside the hall (72) Inventor Jun Kubo             1015 1152 Yamashita, Ryoke, Ageo City, Saitama Prefecture               Aichi Corporation Ageo Kogyo             Inside the hall F term (reference) 3F333 AA08 AB02 AB04 FA11 FA22                       FA34 FD02 FD08 FD09 FE04                       FE09

Claims (3)

[Claims] 1. A vehicle body, a lower boom attached to the vehicle body such that the lower boom can extend, retract, and turn freely, an upper boom attached to the tip of the lower boom in an extendable and retractable manner, and a tip of the upper boom. At least a workbench that is swingably attached, an operating device that operates the lower boom, the upper boom, and the workbench, and the lower boom, the upper boom, and the workbench based on an operation signal from the operating device. A bending boom type work vehicle including an operation control device that controls the operation of the lower boom position detection means for detecting the operating position of the lower boom with respect to the vehicle body, and the upper boom position for detecting the operating position of the upper boom with respect to the tip of the lower boom. Detecting means and the operation for the tip of the upper boom. A workbench position detection means for detecting an operating position of a table, and a prohibited area preset to prevent the lower boom, the upper boom and the workbench from interfering with the vehicle body and the bodywork on the vehicle body. The operation control device stores the operation of the lower boom detected by the lower boom position detection means when operating the lower boom, the upper boom, and the workbench based on the operation signal. The position, the operating position of the upper boom detected by the upper boom position detection means, and the position of the workbench detected by the workbench position detection means are prevented from entering the prohibited area stored in the storage means. A bending / extending boom work vehicle, which restricts operations of the lower boom and the upper boom. 2. An outrigger jack mounted on the vehicle body and laterally and downwardly extending to support the vehicle body; and a jack overhang amount detecting means for detecting an overhang amount of the outrigger jack in a vehicle width direction, Prohibition area setting means for variably setting the prohibition area stored in the storage means in accordance with the amount of extension of the outrigger jack in the vehicle width direction detected by the jack extension detection means. The bending and extension type boom work vehicle according to claim 1. 3. A hoisting angle detector for detecting a hoisting angle of the lower boom with respect to the vehicle body, a turning angle detector for detecting a turning angle of the lower boom with respect to the vehicle body, and a bending angle of the upper boom with respect to the lower boom. A bending / extending angle detector, a lower extension amount detector for detecting an extension amount of the lower boom, an upper extension amount detector for detecting an extension amount of the upper boom, the undulation angle detector, the turning angle detector, and the From the detection results of the bending and extension angle detector, the lower extension amount detector, and the upper undulation angle detector, there is a boom lower surface position calculation means for calculating the lower surface position of the upper boom with respect to the vehicle body, and the operation control device, The lower surface position of the upper boom calculated by the lower surface position calculating means for the boom does not enter the prohibited area. As described above, the operation of the lower boom and the upper boom is restricted.
Alternatively, the bending boom working vehicle according to item 2.