JP2578602Y2 - Working radius limiting device for working machine with boom - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for limiting a working radius of a working machine having a boom.

[0002]

2. Description of the Related Art For example, in a working machine having a boom, such as a crane or an aerial work vehicle, the tip of the boom is grounded to prevent the tip of the boom or a suspended load from colliding with an obstacle. Some devices are equipped with a limiting device that limits the range in which the tip of the boom can move so that the projection position on the boom is within a required radius (limit radius R _set ) from the center of rotation of the boom.

In a working machine equipped with this type of restricting device, in order to stop the tip of the boom at the limited limit radius R _set , the tip of the boom must be moved to the limited limit radius R _set . It is necessary to slow down the moving boom before reaching it.

Meanwhile, in the conventional working machine, the deceleration start position of the boom as shown in FIGS. 11 and 12, the dimensions limit radius R _{The set} as a reference r (e.g., 2
m) has set the deceleration start radius R _B to the front to the limit radius R _{The set} concentrically, the limiting device of the working machine, when the tip position of the boom reaches the deceleration start radius R _B, associated boom The deceleration of the drive is started, and the drive of the boom is controlled to stop when the drive reaches the limit radius _Rset .

[0005]

However, in the conventional limiter for a working machine controlled as described above, the limit radius is limited.
There is a disadvantage that the deceleration region from the deceleration start position to the stop position is different between the case where _Rset is _set with a relatively small radius and the case where Rset is set with a relatively large radius.

[0006] For example, comparison when set at a relatively small radius outer limit radius R _{The set} as shown in FIG. 12, deceleration range to restrict the lodging driving the boom angle theta _1, and the outer limit radius R _{The set} If you use the target radius greater deceleration region for regulating the lodging driving of the boom becomes theta _2.

[0007] Here, the limit radius R _{The set} from deceleration start radius R _B
The distance r to have the same both, may not be able to stop the lodging driving the boom in the deceleration range to the stop position from the collapsed regulating angle theta ₁ at the deceleration start position of the boom, the boom tip beyond the limit radius R _{the set} was sometimes would abut the boom tip stops an obstacle close to the limit. Also it has been a to deteriorate workability by increasing the area to unnecessarily slow down the lodging driving of the boom deceleration region from lodging regulating angle theta ₂ in the deceleration start position of the boom to the stop position is so sufficiently.

[0008] The above is a case in which the boom is restrained from falling down by regulating the outer limit radius. Similarly, the same problem arises when the boom raising drive is regulated by regulating the inner limit radius. have.

A similar problem occurs when the boom is extended and contracted.

[0010] That is, compared relatively small when the radius set in restricting the extension drive of the boom deceleration region length L _1, and the outer limit radius R _{The set} outside the limit radius R _{The set} as shown in FIG. 12 deceleration range for restricting the extension drive when the boom set in target radius greater is the length L _2.

[0011] Here, the distance r from the deceleration start radius R _B to the limit radius R _{The set} is the same both as the relationship between the elongation regulating the length L ₁ and L ₂ of the boom L _1> L _{It is 2} .

[0012] That is, it may be impossible to actually stop the boom Okoshiossha driven in the deceleration region of the elongated restriction length L ₂ in the deceleration start position of the boom to the stop position, the limit radius R of the boom tip _In some cases, it stopped beyond the _set and caused the boom tip to abut an obstacle near the limit. Also with deceleration range from elongated restriction length L ₁ in the deceleration start position of the boom to the stop position is too well, it had been decided to deteriorate workability by increasing the excessively area to decelerate the extension drive of the boom.

Similarly, there is a similar problem when regulating the inner limit height and regulating the boom reduction drive.

Further, a conventional limiter for a working machine is shown in FIG.
As shown in Fig. 1, outer limit radius R _set and deceleration start radius
Also in R _B is the same state, hoisting limit angle from the deceleration start position for restricting the relief operation of the boom by the boom length is a deceleration range to the stop position is in the following relationship.

[0015] That is, hoisting regulating angle boom length is in a deceleration region to the stop position from the deceleration start position when long is theta _a. Hoisting regulating angle from the deceleration start position when the boom length is shorter a deceleration range to the stop position is theta _c. Hoisting regulating angle boom length is in a deceleration region from the deceleration start position in the case of medium length to the stop position is theta _b.

[0016] Each hoisting limit angle where there a relationship of _{θ a <θ b <θ c} , the deceleration area from the theta _a in the deceleration start position to the stop position is insufficient, the theta _c at deceleration start position The same problem as described above, in which the deceleration area to the stop position is too large, has occurred.

The extension restriction length, which is a deceleration region from the deceleration start position to the stop position for restricting the boom extension drive by the boom undulation angle, has the following relationship.

[0018] That is, the boom restriction length from the deceleration start position is large boom hoisting angle a deceleration range to the stop position is L _a. The boom length, which is the deceleration area from the deceleration start position to the stop position when the boom angle is small, is
L _c . Boom regulation length, which is the deceleration area from the deceleration start position to the stop position when the boom hoist angle is an intermediate angle
L _b .

[0019] wherein each boom length is in the relationship of _{L a> L b> L c} , deceleration range from L _a in the deceleration start position to the stop position is sufficiently too, the stop position from L _c at the deceleration start position The same problem as described above occurs in that the deceleration region up to is insufficient.

As described above, in the conventional limiter for a working machine, since the deceleration area from the deceleration start position to the stop position differs depending on the boom state, the deceleration area from the deceleration start position to the stop position may be excessive or insufficient. It was not satisfactory as a control.

According to the present invention, the length of the telescopic boom, the telescopic boom
Deceleration boom deceleration opening regardless of the boom state such as
It is an object of the present invention to provide a working radius limiting device for a working machine that can control a deceleration region from a start position to a stop position without excess or deficiency and in a proper and sufficient deceleration region.

[0022]

To SUMMARY OF THE INVENTION To this end, the invention of claim 1, pivot and fitted with a relief freely telescopic boom on the vehicle, turning the telescopic boom,
What is claimed is: 1. A work machine having a boom provided with a driving means for driving up and down and extending and retracting, comprising: an up and down angle detector for detecting an up and down angle of the telescopic boom and outputting an up and down angle signal; and a boom length of the telescopic boom. the set and the length detector for outputting a length signal by detecting a working radius limits telescopic boom tip can be located,
Having a working radius limit value setting device that outputs the working radius limit value signal, and the undulation angle signal from the undulation angle detector and the
Length signal from length detector and working radius limit value setting device
A calculation unit that receives and calculates a work radius limit value signal from the control unit and outputs a regulation signal so that the work radius where the tip of the telescopic boom is located does not exceed the work radius limit value. In a working radius limiting device for a working machine including a regulating unit that regulates the driving unit, the regulating unit includes:
In response to the restriction signal, the telescopic boom is configured to regulate the undulating drive, and the arithmetic unit is configured to control the length signal and the length signal.
The hoisting angle limit value of the boom from said working radius limit signal
Calculated, and the hoisting angle signal and hoisting angle limit value of the boom
Wherein the restriction signal is output when the difference is within a predetermined angle .

[0023]

According to the first aspect of the present invention, the arithmetic unit includes a decompression unit.
Depending on the length of the reduced-boom by converting the working radius limit signal hoisting angle limit value of the boom, hoisting angle limit value of the boom and electromotive
When the difference from the inclination angle signal is within a predetermined angle , a regulation signal is output to the regulation means to regulate the up / down driving means of the telescopic boom.

Therefore, the control is not performed on the working radius but directly on the up / down angle of the telescopic boom, and the regulation start position of the up / down driving of the telescopic boom is determined from the stop position of the up / down driving of the telescopic boom. Since it is always determined and regulated by the up / down angle of the telescopic boom by a predetermined amount, the up / down driving control of the telescopic boom from the regulation start position to the stop position of the telescopic boom should always be at a constant angle regardless of the telescopic boom state. Can be.

That is, the deceleration area described in the prior art does not differ depending on the state of the telescopic boom, and the control can be performed with an appropriate and sufficient deceleration area.

[0026]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to an embodiment of a crane truck shown in the drawings.

First, an outline of a crane truck will be described with reference to FIG. 2. Reference numeral 1 denotes a crane truck, and a crane 3 is installed on a vehicle 2 of the crane truck 1.

The crane 3 has a swivel base 4 rotatable about a vertical axis on the vehicle 2 and a telescopic boom 5 installed on the swivel base 4 so as to be able to undulate.

The telescopic boom 5 includes a base boom 5a mounted on the swivel base 4 via a pivot 6 so as to be able to be raised and lowered, and an intermediate boom 5b inserted inside the distal end of the base boom 5a.
And a distal end boom 5c inserted inside the distal end of the intermediate boom 5b.

An elevating cylinder 7 composed of a hydraulic cylinder is installed below the telescopic boom 5, and the base boom 5 a is driven around the pivot 6 by the expansion and contraction of the elevating cylinder 7, and Undulation can be adjusted.

Further, inside the telescopic boom 5, an intermediate boom 5b and a distal end boom 5c of the telescopic boom 5 are provided.
The telescopic cylinder 8 composed of a hydraulic cylinder is arranged to drive the telescopic movement of the base cylinder with respect to the base end boom 5a.

A winch 9 is provided on the swivel 4 and a wire rope 11 extending from the winch 9 is wound around a sheave 12 disposed at the tip of the tip boom 5c, and is hung down. A hook 13 is attached to the tip of the wire rope 11, and a suspended load (not shown) is suspended by the hook 13.

The crane 3 is driven using hydraulic pressure from a hydraulic circuit 20 shown in FIG. 3 as a power source.

That is, in FIG. 3, reference numeral 21 denotes a hydraulic pump, and on the discharge side of the hydraulic pump 21, the turning hydraulic motor 22, the main hydraulic motor 22, Hydraulic actuators (drive means) such as the winch hydraulic motor 23 and the sub winch hydraulic motor 24 are provided with the switching valves 7a,
8a, 22a, 23a and 24a are connected in parallel with each other.

Each of these switching valves is a 6-port, 3-position switching valve composed of an electromagnetic proportional control valve. The opening areas of these switching valves can be electrically adjusted. The amount of oil passing through can be appropriately adjusted.

Each of the switching valves 7a and 8a of the up-and-down cylinder 7 and the telescopic cylinder 8 has a solenoid 7 that can electrically adjust the opening area.
b, 7c, 8b, and 8c (see FIG. 1) are provided as regulating means of the present application. 7b controls and regulates the speed of the raising and lowering operation of the telescopic boom 5;
8b controls and regulates the speed of the expansion operation and 8c controls and controls the speed of the reduction operation.

These solenoids 7b, 7c, 8b, 8
c includes a control device 31 corresponding to the arithmetic unit in the present invention.
Is connected.

The control device 31 includes the telescopic boom 5
The boom length detector 33 for detecting the extension length of the boom 5 and the boom angle detector 34 for detecting the ground angle of the extension boom 5 are connected, and signals from these detectors are input. A working radius limit value setting device 35 is connected.

Working radius limit value setting device 35 of this embodiment
Is an outer limit value setter 36 for setting and releasing an outer limit radius (R _setu ), and an inner limit radius (R _setl ).
And an inner limit value setting device 37 for setting and canceling the setting.

The control device 31 includes limit value calculating means 41a, 41b, 41c, 41d and discriminating means 4 corresponding to the four solenoids 7b, 7c, 8b, 8c, respectively.
2a, 42b, 42c, 42d and control signal output means 4
3a, 43b, 43c, and 43d are provided.

The limit value calculating means 41 a and 41 b calculate the limit undulation angle θ ₀ from the signal of the boom length detector 33 and the work radius limit value set by the work radius limit value setting device 35. , Limit value setting means 41c, 4
1d calculates the limit boom length L ₀ from the work radius limit value set by the work radius limit value setting device 35 and the signal of the boom angle detector 34. In the limit value calculating means 41b and 41c, the outer limit value setting device 36
With the outer limit radius R _Setu as a limit value of the working radius is to use limit value calculating means 41a, the inner limit radius R _SETL inner limit value setting unit 37 in 41d as a limit value of the working radius. The calculation formula will be described later.

The discriminating means 42b includes a boom angle detector 34
Is compared with the above-mentioned θ ₀ ,
It outputs the value of the angle difference θ−θ ₀ between the current undulation angle θ and the above θ ₀ . Similarly, the discriminating means 42a determines that θ ₀
Angle θ between the angle and the undulation angle θ from the boom angle detector 34
_It outputs the value of ₀₋ θ.

[0043] Further, 42d determination means is for the boom length L from the boom length detector 33 as compared to the L _0, and outputs the value of the boom length difference L-L _0, determining means 4
2c similarly outputs the value of L ₀ -L.

Control signal output means 43a, 43b, 43
c and 43d, as shown in FIG. 6 or 7, correspond to the regulation signal data stored in advance based on the value of the angle difference | θ−θ ₀ | or the value of the boom length difference | L−L ₀ |. And outputs a regulation signal.

The embodiment having the control device 31 configured as described above performs the following operation according to the flowchart shown in FIG. The operation shown in FIG. 4 starts when the power of the control device 31 is turned on, and stops when the power is turned off.

When the power of the control device 31 is turned on, it is possible to set or release the outer limit radius R _setu at which the tip of the telescopic boom 5 can move in step 1, and if necessary, the outer limit radius R _setu. R _setu is set.

Thereafter, in step 2, it is possible to set or release the inner limit radius R _setl in which the tip of the telescopic boom 5 can move, and the inner limit radius R _setl is set as necessary. Proceed to 3.

In step 3, the outer limit radius R
It is determined whether or not _setu has been set. If YES, the process proceeds to step 4, and if NO, the process proceeds to step 5.

In step 4, the telescopic boom 5 has a telescopic distance (boom length difference) from the current state of the telescopic boom 5 to the outer limit radius R _setu and a telescopic boom up to the outer limit radius R _setu. 5 is calculated.

The calculation of the boom length difference and the angle difference is performed as follows (see FIG. 5).

That is, R _setu = L * cos (θ _setu -Δθ) + R
_off holds. R _off is the pivot 6 of the telescopic boom 5
Is the amount of offset from the center of rotation, and Δθ is the correction angle for the deflection of the telescopic boom 5.

When this is deformed, the undulation angle is increased while keeping the length of the telescopic boom 5 unchanged, and the undulating angle of the telescopic boom when the tip end of the telescopic boom 5 reaches the outer limit radius R _setu (back calculation) Angle) θ _setu is given by the following equation.

Θ _setu = cos ^-1 ｛(R _setu -R _off ) / L｝ + Δθ At the same time, R _setu = L _setu * cos (θ-Δθ) + R _off holds.

By transforming this equation, when the telescopic boom 5 is extended while keeping the undulation angle of the telescopic boom 5 as it is, the length of the telescopic boom when its tip reaches the outer limit radius R _setu ( The back calculation length) L _setu is given by the following equation.

L _setu = (R _setu -R _off ) / cos (θ-Δθ) Therefore, the angle difference is calculated by | θ _setu -θ | and the boom length difference is calculated by | L _setu -L | Can be.

The angle difference and the boom length difference calculated in this manner are collated with the corresponding deceleration data of FIGS. 6 and 7 stored in advance in the control device 31 to determine an appropriate valve opening. Then, in step 6, the switching valves 7a, 8
The opening area of a is adjusted to the valve opening.

On the other hand, if NO is determined in step 3, the outer limit radius R _setu is not set and no special deceleration is required, so that the valve opening is set to 100% and the process proceeds to step 6. .

In step 6, the switching valves 7a, 8a of the up-and-down
Is adjusted so that the opening area of the valve becomes the valve opening determined in steps 4 and 5.

That is, when the angle difference or the boom length difference is substantially smaller than the previously stored deceleration start angle (a °) or deceleration start distance (Am), the up-and-down cylinder 7 and the telescopic cylinder 8 are depressed. Switching valves 7a, 8
The opening area of “a” is electrically adjusted so that the respective solenoids 7 c and 8 b operate and the required valve opening degree is reached, and the process proceeds to step 7.

Therefore, in such a case, a large deceleration occurs with the driving of the telescopic boom 5 to the outside, so that the telescopic boom 5 can be smoothly and smoothly stopped at the position of the outer limit radius R _setu. Become like

In step 7, the inner limit radius R
It is determined whether or not _setl has been set. If YES, the process proceeds to step 8, and if NO, the process proceeds to step 9.

In step 8, the telescopic boom 5 extends or contracts from the current state of the telescopic boom 5 to the inner limit radius R _setl (boom length difference) and the telescopic boom to the inner limit radius R _setl. 5 is calculated, and a valve opening corresponding to the angle is obtained.

The processing in this step 8 is substantially the same as that in step 4 and will not be described.

Step 9 has the same purpose as step 5, and step 8 or 9
After that, the operation of the solenoids 7b and 8c in step 10 to adjust the valve opening is the same as in step 6.

As a result, the inner limit radius R _setl is set, and the leading end of the telescopic boom is moved to the deceleration start angle (a
°) or the deceleration start distance (Am), a large deceleration is generated similarly to the case of the outer limit radius R _setu , and the telescopic boom 5 is smoothly and smoothly moved to the inner limit radius R _setl. Can be stopped at the position.

After step 10, the process returns to step 1 to repeat the above-mentioned processing.

It should be noted that such a function can be released by performing a required release process in step 1 or step 2.

By controlling the amount of oil to the up-and-down cylinder 7 and the telescopic cylinder 8 in this way, the telescopic boom 5 of the crane truck 1 of this embodiment can move the telescopic boom 5 up and down as shown in FIG. Regardless of the angle, at the position of the limit radius (only the outer limit radius R _setu is shown in FIG. 8), the deceleration start angle (a °) for stopping the up and down movement of the telescopic boom 5 or the telescopic operation smoothly and smoothly. In addition, the operation can be reliably restricted from a stage before the deceleration start distance (Am).

Therefore, it is possible to constantly control the raising / lowering drive of the telescopic boom from the regulation start position to the stop position of the telescopic boom without depending on the state of the telescopic boom.
Control can be performed with an appropriate and sufficient deceleration range.

[0070] Particularly, in the working radius limit of the crane vehicle, when the rapidly stop the movement of the boom at the position of the limit radius R _{The set,} caused a rolling to the suspended load hung through the wire rope 11 or the like , there is a possibility that suspended load is in contact with the obstacle exceeds the limit radius R _{the set,} since this invention stops the telescopic boom is controlled as described above, after suppressing the occurrence of rolling, such as the suspended load There is an advantage that is effective.

In the deceleration data of the embodiment described above, for example, with respect to the up / down driving of the telescopic boom 5, the valve opening is made to depend only on the angle difference of the telescopic boom 5, as shown in FIG. However, in order to further improve the accuracy, a configuration shown in FIG. 9 or FIG. 10 may be used.

FIG. 9 shows a configuration in which the deceleration curve is changed depending on the operation speed of the telescopic boom 5 during the up / down control of the telescopic boom 5.

That is, in FIG. 9, P indicates valve opening degree data when the operation speed of the telescopic boom 5 is the maximum speed, and Q indicates the case where the operation speed is the intermediate speed. When the telescopic boom 5 is operated at the maximum speed, the valve opening is determined as in the case of FIG.

When the telescopic boom 5 is operating at the intermediate speed of Q, regardless of whether or not the deceleration start angle a ° is exceeded, the valve opening is maintained until the angle difference reaches the position N of n. The valve opening is limited according to the data curve P from the position N. This means that the deceleration start angle is changed depending on the operation speed of the telescopic boom 5.

As a result, there is an advantage that the space area in which the operation of the telescopic boom 5 is free within the limit range of the limit work radius can be expanded.

FIG. 10 shows that the deceleration curve is changed depending on the extension state of the telescopic boom 5 in addition to the undulating operation speed similar to FIG.

That is, FIG. 10 shows a case in which the outer limit radius is set at the time of undulation control, and the data curve P has three types of data curve portions P ₁ , P ₂ , and P _3. .

The data curve portion P ₁ is valve opening data set according to the relatively small kinetic inertia of the telescopic boom 5 when the telescopic boom 5 is contracted. The data curve portion P ₃ is set according to the relatively large kinetic inertia of the telescopic boom 5 in a state where the telescopic boom 5 is extended, and P ₂
Are set corresponding to the intermediate state.

Therefore, when the data shown in FIG. 10 is used, the length of the telescopic boom 5 at that time is determined based on the signal from the boom length detector 33, and the length of the data boom 5 is determined from the data curve portions accordingly. An appropriate selection is made, and the valve opening is determined by the curve.

Such a data curve portion is represented by P ₁ ,
Not only the three types P ₂ and P ₃ but also more types may be prepared to determine the valve opening.

When the operation speed of the telescopic boom 5 is an intermediate speed, the valve follows the valve opening curve Q in the same manner as described above, but the valve opening is substantially changed depending on the length of the telescopic boom at that time. Where the restriction starts is the angle difference n ₃ ,
This is different from n ₂ and n ₁ , so that the distance from the deceleration start position to the limit work radius is changed, and a more smooth and smooth stop is possible.

In the embodiment described above, both the raising and lowering drive and the expanding and contracting drive of the telescopic boom 5 are controlled, but the present invention may be implemented with only the raising and lowering drive controlled.

[0083]

As described above, according to the first aspect of the present invention, the arithmetic unit operates according to the length of the telescopic boom.
The working radius limit value signal is converted to the boom angle limit value , and the difference between the boom angle limit value and the boom angle signal is determined by a predetermined angle.
In this case, a regulation signal is outputted to the regulation means to regulate the up / down driving means of the telescopic boom.

Therefore, the control is not performed on the working radius but directly on the up / down angle of the telescopic boom, and the regulation start position of the up / down driving of the telescopic boom is determined from the stop position of the up / down driving of the telescopic boom. Since it is always determined and regulated by the up / down angle of the telescopic boom by a predetermined amount, the up / down driving control of the telescopic boom from the regulation start position to the stop position of the telescopic boom should always be at a constant angle regardless of the telescopic boom state. Can be.

That is, the deceleration area described in the prior art does not differ depending on the state of the telescopic boom, and control can be performed with an appropriate and sufficient deceleration area.

[Brief description of the drawings]

FIG. 1 is a block diagram of a control device.

FIG. 2 is an overall schematic view of a crane truck.

FIG. 3 is a drive hydraulic circuit diagram of the crane.

FIG. 4 is a flowchart of the operation of the limiting device.

FIG. 5 is a diagram illustrating the relationship between the length of the telescopic boom and the undulation angle.

FIG. 6 shows relation data between an angle difference and a valve opening.

FIG. 7 shows relation data between a boom length difference and a valve opening.

FIG. 8 is a diagram illustrating the operation of the telescopic boom by the restricting device of the embodiment.

FIG. 9 is another relational data between the angle difference and the valve opening, and is an explanatory diagram of the valve opening at an intermediate speed.

FIG. 10 shows relation data between still another angle difference and a valve opening degree.

FIG. 11 is a diagram illustrating the operation of a telescopic boom in a conventional restriction device.

FIG. 12 is an explanatory diagram of a state of a deceleration region according to a working radius in a conventional limiting device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Crane truck (working machine) 2 Vehicle 5 Telescopic boom 7 Undulating cylinder (driving means) 7a Switching valve 7b, 7c Solenoid (regulating means) 8 Telescopic cylinder (driving means) 8a Switching valve 8b, 8c Solenoid (regulating means) 22 Turning Hydraulic motor 31 Controller (arithmetic unit) 33 Boom length detector (Length detector) 34 Boom angle detector (Lift angle detector) 35 Work radius limit value setting device

Claims (1)

(57) [Scope of request for utility model registration] 1. A work machine having a boom provided with a driving means for swinging , raising and lowering and telescopically driving the telescopic boom mounted on a vehicle so that the telescopic boom can be turned and raised and lowered. setting the hoisting angle detector for outputting a hoisting angle signal, the length detector which outputs a detect and length signals boom length of the telescopic boom, a working radius limits telescopic boom tip be located in And a working radius limit value setting device for outputting the working radius limit value signal, wherein the undulation angle signal from the undulation angle detector and the length detector
Work signal from the work radius limit value setting device
Calculated receiving an径限field value signal, the tip of the telescopic boom so that the working radius located does not exceed the working radius limit
To an arithmetic unit for outputting a restriction signal in the working radius limiting device for a working machine provided with a regulating means for regulating said drive means receiving the restriction signal, the regulating means, the telescopic boom receiving said regulating signal together configured to regulate the relief drive, the arithmetic unit
Calculates a hoisting angle limit value of the boom from said length signal and said working radius limit value signal, the difference between the hoisting angle limit value and <br/> the hoisting angle signal of the boom when within a predetermined angle A working radius limiting device for a working machine having a boom, wherein the working radius limiting device is configured to output a regulation signal.