JP3086584B2 - Boom vehicle safety equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a boom working vehicle having a boom that can freely turn and undulate, and more particularly to a so-called cab-back type boom working vehicle, and more particularly to a safety device for preventing the body of the working vehicle from tipping over. It concerns the device.

[0002]

2. Description of the Related Art Cab-back type boom working vehicles are
The base end of the boom is mounted just behind the front cabin (the front of the vehicle body), which is based on the truck chassis. This boom can freely turn horizontally around the base end with respect to the vehicle body, and can freely undulate around the base end. A work table for working at heights, an auger device (digging device) for a pole, and a winch are attached to the tip of the boom and the like. , To the rear or side of the vehicle body).

[0003] In this boom working vehicle, jacks are attached to the front, rear, left and right of the vehicle body (but behind the driving cabin) to support the vehicle body with its lower end grounded.
A safety device is provided to secure the grounding of these jacks to prevent the vehicle body from tipping over during work. Such a safety device detects a ground reaction force acting on each jack and detects one of two adjacent jacks (for example, two on the front left and right or two on the right and front) out of the four jacks. When the ground reaction force acting on the actuator falls below the first predetermined value and the ground reaction force acting on the other falls below a second predetermined value smaller than the first predetermined value (hereinafter referred to as a regulated reaction force state). Some control the operation of the boom.

[0004]

By the way, in such a cab-back type boom working vehicle, an engine is mounted below a driving cabin, and a center of turning and raising / lowering of the boom is disposed immediately behind the cabin. . For this reason,
For example, even if the boom is turning backwards from the vehicle body, raising the boom high raises the center of gravity of the entire work vehicle toward the front, and the above-mentioned regulated reaction force condition occurs at the rear left and right jacks There is. However, in such a case, since the front wheels of the work vehicle touch the ground and support the vehicle body, the vehicle body does not fall forward. In this way, the boom
As long as it is located in the area behind the line connecting the center of rotation of the boom and the jacks attached to the front left and right in plan view, the vehicle body can only fall backward or to the side, If the operation of the boom is restricted just because the restricted reaction force state occurs in the rear left and right jacks, there is a problem that the work is hindered. Further, in a work vehicle in which an auger device is suspended from a boom and lifted and retractably mounted, when the auger device is suspended and an auger drill digs into the ground, the opposite side of the vehicle body with respect to the auger device may rise. However, in such a case, if the operation of the boom is restricted, there is a disadvantage that the excavation operation cannot be continued any more.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a safety device for a boom working vehicle in which the operation of the boom is restricted only within a range that does not hinder the work. And

[0006]

In order to achieve the above object, a safety device according to the present invention comprises a conventional restricting means for restricting the operation of a boom when two adjacent jacks are brought into a restricting reaction force state. In addition, a turning position detection that detects whether the turning position of the boom with respect to the vehicle body is in a region behind a line connecting the center of the boom turning and jacks attached to the front left and right of the vehicle body in plan view. Means and the turning position detecting means detect that the turning position of the boom is within the rear area, the restricting reaction force state generated in the two jacks attached to the rear left and right of the vehicle body is controlled. The first regulation excluding means for excluding the boom operation regulation from being applied to the boom by the means, and the excavating apparatus, which is attached to the boom so that the excavating apparatus can be suspended and raised, is suspended. Excavation work detection means for detecting whether or not the excavator is in a suspended state, and if any of the jacks is in a suspended state, the restriction reaction force generated between any jacks is also restricted by the boom operation restriction. And a second regulation exclusion unit for excluding from the target of application.

[0007]

With such a safety device, when the turning position of the boom is detected to be within the rear area by the turning position detecting means, even if the regulating reaction force state occurs in the two rear right and left jacks, the second reaction force state can be obtained. (1) The operation of the boom is not restricted by the restriction removing means, and the operation can be continued. However, when a regulated reaction force state occurs in two jacks other than these (for example, right and left front and rear), further operation of the boom is regulated and the stability of the vehicle body is ensured. In addition,
When the turning position of the boom is not in the rear area by the turning position detecting means (that is, in the area in front of a line connecting the center of rotation of the boom and jacks attached to the front left and right of the vehicle body in plan view). When the detection is detected, the operation of the boom is restricted even when the restricted reaction force occurs in the rear left and right jacks, and the vehicle body is prevented from falling forward. Furthermore, if the excavation device is detected by the excavation operation detecting means to be in a suspended state, that is, if it is detected that the excavation operation is being performed, even if a regulated reaction force state occurs,
The operation of the boom is always permitted by the second restriction exclusion means. Therefore, even when the opposite side of the vehicle body is lifted by the excavation work, the work can be continued as it is.

[0008]

Preferred embodiments of the present invention will be described below with reference to the drawings. First, FIG. 1 shows a cab-back type excavation column 1 equipped with a safety device according to the present invention. The pole carriage 1 is configured based on a chassis of a truck, and has a driving cabin 3 (in which an engine E is built-in at a lower portion) mounted at the forefront of a vehicle body 2. Immediately behind the driving cabin 3 in the vehicle body 2, a disk-shaped revolving base 10 is attached so as to be able to freely turn horizontally with respect to the vehicle body 2. A pair of side plates (only one of them is shown in the drawing) 11 is provided upright at the rear of the upper surface of the swivel base 10, and the base end of a boom 12 is attached to the upper part of these side plates 11. Have been. Also,
A cockpit 15 having substantially the same height as the side plate 11 is provided at a front portion of the upper surface of the swivel 10.

The boom 12 includes a base boom 12a having a base end pivotally attached to the side plate 11 so as to be able to move up and down, and a base boom 1a.
It is configured to be telescopically expandable and contractable from the distal end boom 12b inserted into the inside 2a. A winch 13 is attached to the upper surface of the base end of the base end boom 12a. The wire 13a extended from the winch 13 hangs down from the tip of the tip boom 12b, and a hook 13b is attached to the lower end of the wire 13a.

A hanging member 21 is attached to the outer periphery of the tip boom 12b so as to be slidable in the longitudinal direction of the tip boom 12b. This hanging member 21
It is selectively fixed to the distal end of the proximal boom 12a and the distal end of the distal boom 12b by a lock mechanism (not shown). An arm 21a is attached to the lower part of the suspension member 21 so as to swing in the width direction of the boom 12, and an auger device 22 is attached to the lower end of the arm 21a so as to swing in the longitudinal direction of the boom 12. Have been. The auger device 22 includes an auger motor 22a operated by hydraulic pressure and an auger drill 22b rotationally driven by the auger motor 22a. The auger device 22
As shown by I and III in FIG. 1, the is pulled up so as to be parallel to the side surface of the boom 12 (the base end boom 12a) and stored in the boom 12. And boom 12
Is stored on the boom receiver 4 attached to the rear part of the vehicle body 2 and stored in the vehicle body 2 as shown in I.

[0011] Further, at four locations on the front, rear, left and right of the vehicle body 2,
Jack (Jack the left front jack, J the right front jack
2, the rear left jack is J3, and the rear right jack is J4). As shown in detail in FIG. 2, each jack is pivotally attached to an outer post 31, an inner post 32 inserted into the outer post 31 so as to be extendable and contractable downward, and a lower end of the inner post 32 so as to be swingable. It comprises a ground plate 33 and a hydraulic jack cylinder 34 built in the outer post 31 and the inner post 32. The lower end of the piston rod of the jack cylinder 34 is attached around a pivot pin 35 between the inner post 32 and the ground plate 33. A connecting plate 36 is provided at the upper end of the cylinder tube of the jack cylinder 34.
Is attached, and a spring 37 is arranged between the connecting plate 36 and the ceiling surface of the outer post 31. That is, the cylinder tube of the jack cylinder 34 is the spring 3
7, and is connected to the outer post 31. In addition,
As shown in FIG. 6, the outer post 31 is attached to the tip of a projecting arm 38 that expands and contracts laterally from the front, rear, left and right sides of the vehicle body 2.

When the pole D is constructed by the digging pole car 1 constructed as described above, first, the projecting arm 38 is used.
Are extended to the side of the vehicle body 2 to project the jacks J1 to J4. Then, the inner post 32 of each jack is extended downward to ground the ground plate 33, and the inner post 32 is further extended to support the vehicle body 2 while slightly lifting the vehicle body 2 from the ground.

As shown in II of FIG. 1, when performing an excavating operation, first, the boom 12 is appropriately raised, and then the auger device 22 is suspended from the tip of the boom 12. Next, the suspension member 21 is fixed to the end boom 12b, and the auger device 22 is moved above the digging position by the operation of the swivel table 10 and the boom 12. Then, the auger drill 22b is rotated to excavate the hole H for the pole. As shown in III of FIG. 1, when the work of installing the utility pole D is performed, the hook 13 is used.
The utility pole D hooked on b is lifted by the winch 13, and the utility pole D is inserted into the pole hole H by the operation of the swivel 10 and the boom 12.

The operation of the swivel 10, the boom 12, the winch 13 and the auger device 22 is controlled based on the operation of the operation lever 41 by an operator (not shown) sitting on the cockpit 15. For this reason, a control device 40 configured as shown in FIG. The control device 40 includes the operation lever 41,
The controller 42 outputs a control signal corresponding to the operation of the operation lever 41, and receives the control signal to
The control valve 43 controls supply and discharge of hydraulic oil (supplied from the hydraulic pressure source P) to each hydraulic actuator (hydraulic motor or hydraulic cylinder) for operating the boom 12 and the winch 13. And this control device 40
, A safety device 50 according to the present invention is attached. Hereinafter, the safety device 50 will be described in detail with reference to FIG.

The safety device 50 has two ground reaction force detectors (a first ground reaction force detector Sa and a second ground reaction force detector Sb) mounted two by two for each of the jacks J1 to J4. You. As shown in FIG. 2, the first ground reaction force detector Sa is composed of a normally open type limit switch attached to the left inner surface of the outer post 31 of each jack. A first cam 36a extending in the vertical direction is attached to the left side surface of the connecting plate 36 attached to the upper end of the jack cylinder 34. The second ground reaction force detector Sb also includes a normally open type limit switch attached to the right inner surface of the outer post 31, and the first cam 36
A second cam 36b extending downward and longer than a is attached.

When a weight (that is, a ground reaction force) corresponding to approximately 1/4 of the total weight of the pole carriage 1 acts on the jack, the spring 37 is compressed, and the outer post 31 moves to the jack cylinder 34 and the connecting plate 36. Move down, and each cam 36
a, 36b depress the switch lever of each detector Sa, Sb to close these detectors Sa, Sb. Then, when the ground reaction force acting on the jack decreases to the first predetermined value, the outer post 31 moves upward, the first cam 36a disengages from the switch lever of the first ground reaction force detector Sa, and returns to the open state. . Further, when the ground reaction force is reduced to a second predetermined value smaller than the first predetermined value and the outer post 31 moves upward, the second cam 36a is also disengaged from the switch lever of the second ground reaction force detector Sb. Return to open.

The first and second ground reaction force detectors attached to the left front jack J1 are called Sa1 and Sb1, respectively, and the first and second ground reaction force detectors attached to the right front jack J2 are respectively Sa2. , Sb2. Also,
The first and second ground reaction force detectors attached to the left rear jack J3 are called Sa3 and Sb3, respectively, and the first and second ground reaction force detectors attached to the right rear jack J4 are called Sa4 and Sb4, respectively. .

Further, as shown in FIG.
Has a turning position detector TS. This turning position detector TS is formed of a two-contact switching type limit switch, and is attached near the outer periphery of the turning table 10 in the vehicle body 2 as shown in FIG. A cam 10a is attached to a portion of the outer periphery of the swivel 10 within a range of a central angle of about 160 °. When the switch lever is pressed by the cam 10a, the turning position detector TS is closed on the front area side shown in FIG. 4, and is closed on the rear area side when the cam 10a is released from the switch lever. Here, as shown in FIG. 6, the “front area” is defined by straight lines L1 and L2 connecting the turning center O of the swivel table 10, that is, the boom 12, and the protruding front jacks J1 and J2 in plan view. Also refers to the area in front. on the other hand,
The “rear region” refers to a region behind the straight lines L1 and L2, and is a range extending from the center in the width direction of the vehicle body 2 to the left and right by about 100 °. As shown in FIG. 4, the turning position detector TS is connected to the battery B via the main switch MS.
It is connected to the.

Further, as shown in FIG. 3, the safety device 50 includes a hydraulic line L connecting the hydraulic source P and the control valve 43.
It has an unload valve 55 provided on P.
The unload valve 55 is an electromagnetic switching type two-position valve. When the solenoid 55a is in a non-excited state, the unload valve 55 shuts off the hydraulic line LP, and is offset to a left-handed position where the hydraulic source P is connected to the oil tank T. Is done. On the other hand, when the solenoid 55a is in the excited state, the hydraulic line L
The position is switched to the right movement position where P is opened.

A safety device 50 having each of these components
Is composed of a rear jack side circuit 51, a regulation circuit 52, and a front jack side circuit 53. Rear jack side circuit 5
1 is formed by connecting first ground reaction force detectors Sa3 and Sa4 and second ground reaction force detectors Sb3 and Sb4 attached to rear left and right jacks J3 and J4 in parallel with each other. A battery B is connected to each of the ground reaction force detectors via a main switch MS, and a relay switch coil (C10 for the detector Sa3 and C9 for the detector Sb3) is provided downstream of these detectors. , C8 for the detector Sa4 and C7) for the detector Sb4.

The regulation circuit 52 includes a switching circuit 52a (first regulation exclusion means) and an excitation circuit 52b which are connected to the turning position detector T.
It is configured to be connected in parallel downstream of both S contacts.
The switching circuit 52a includes a first switch K of the relay switch.
8 (corresponding to the coil C8: the same applies hereinafter) and the first switch K10 are connected in series, and the first switch K
7 and the first switch K9 are connected in parallel, and further downstream thereof is connected a coil C11 of a relay switch. The first switches K8 to K10 in the switching circuit 52a are all normally closed types. The excitation circuit 52b is provided with a solenoid 55a of the unload valve 55.
A normally open type switch K11 (corresponding to the coil C11) is attached to an intermediate portion of the circuit.

The front jack circuit 53 includes a first ground reaction force detector S attached to the front left and right jacks J1 and J2.
a2 and the second ground reaction force detector Sb1 are connected in parallel to form a first parallel circuit 53a, and the first ground reaction force detector Sb
a1 and a second parallel circuit 53b in which a second ground reaction force detector Sb2 is connected in parallel are connected in series. The first parallel circuit 53a is connected downstream of both contacts of the turning position detector TS. A second switch K1 is provided downstream of the first ground reaction force detector Sa2 in the first parallel circuit 53a.
0 '(corresponding to the coil C10: the same applies hereinafter), and a second switch K7' is connected downstream of the second ground reaction force detector Sb1. On the other hand, a second switch K8 'is connected downstream of the first ground reaction force detector Sa1 in the second parallel circuit 53b, and a second switch K9' is downstream of the second ground reaction force detector Sb2. Is connected.
The second switch K7 'in the front jack side circuit 53
To K10 'are all of the normally open type. The downstream of the second parallel circuit 53b is connected between the switch K11 and the solenoid 55a in the excitation circuit 52b.

Further, the safety device 50 is provided with a second restriction exclusion line 57 which is directly connected to the solenoid 55a from the main switch MS. An excavation work detector KS is attached to the second regulation exclusion line 57. This excavation work detector KS is composed of a normally open type open / close switch, and opens when the auger device 22 is retracted with respect to the boom 12 as shown in I and III in FIG. When the auger device 22 is suspended from the boom 12 as shown in FIG.

Next, the safety device 50 constructed as described above will be described.
The operation of will be described with reference to FIG. First, for example, a case will be described in which the boom 12 is stored in the vehicle body 2 as shown in FIG. 1I, and the total weight of the pole carriage 1 is acting equally on the four jacks J1 to J4. . At this time, the ground reaction force detectors Sa and Sb attached to each jack are closed as described above. Therefore, if the main switch MS is not closed (on), the four coils C7 to C10 are excited, the first switches K7 to K10 are opened, and the second switches K7 'to K10' are closed. Become. Since the first switches K7 to K10 are open, the coil C1
1 is not excited and the switch K11 remains open, but power from the battery B is supplied to the solenoid 55a of the unload valve 55 via the rear area side contact of the turning position detector TS and the front jack side circuit 53. Is supplied and this is excited. Therefore, the unload valve 55 is located at the right movement position to supply hydraulic oil from the hydraulic pressure source P to the control valve 43, and the operator can control the operation of the boom 12 and the like by operating the operation lever 41.

Next, as shown in III of FIG. 1, a case where the boom 12 is located rearward in the rear area and the utility pole D is suspended will be described. In this case, the ground reaction force detectors Sa3, Sa4, Sb3, and Sb4 attached to the rear two jacks J3 and J4, which can serve as overturning fulcrums.
Are all closed. Therefore, each coil C7-
When C10 is excited, the first switches K7 to K10 are opened, and the switch K11 remains open. Also,
The second switches K7 'to K10' are closed. Here, the ground reaction forces acting on the front two jacks J1 and J2 have fallen below a first predetermined value (first ground reaction force detectors Sa1 and S1).
a2 is open), the two parallel circuits in the front jack circuit 53 are open via the second ground reaction force detectors Sb1 and Sb2, respectively. Through the solenoid 55
Power is supplied to a, which is excited. Therefore,
At this stage, the operation control of the boom 12 and the like can be performed through the operation lever 41. However, the ground reaction force acting on one of the front two jacks J1 and J2 falls below the first predetermined value (for example, the detector Sa1 opens), and the ground reaction force acting on the other falls below the second predetermined value. (For example,
When the detectors Sa2 and Sb2 are open), that is, when the state is the regulation reaction force state, the front jack side circuit 5
Since one of the parallel circuits in 3 is completely shut off, power is not supplied to the solenoid 55a. Therefore, the unload valve 55 returns to the left movement position, and even if the operator operates the operation lever 41, the boom 12 and the like cannot be operated any more. In this way, the pillar truck 1 is reliably prevented from falling backward.

As shown by a chain line in FIG.
The case where the vehicle 2 is turning at the right side of the vehicle body 2 in the rear area will be described. In this case, the ground reaction force detectors Sa2, Sa4, Sb2, and Sb4 of the right front jack J2 and the right rear jack J4 serving as the overturning fulcrum are all closed. Here, the two jacks J1, J on the left and front sides
When only the first ground reaction force detectors Sa1 and Sa3 are open, the coils C7, C8 and C9 are excited in the rear jack side circuit 51 and the first switch K
Since 7, K8 and K9 are open, the switch K11 remains open. On the other hand, in the front jack side circuit 53, the second switches K7 ', K8', K9 'are closed and the detectors Sa2, Sb1, Sb2 are closed. Electric power is supplied to the solenoid 55a, which is excited. Therefore, at this stage, operation control of the boom 12 and the like can be performed. However, for example, when the first grounding reaction force detector Sa3 of the left rear jack J3 is open and the second grounding reaction detector Sb1 of the left front jack J1 is open, a regulated reaction force state occurs. Since the first parallel circuit 53a is completely shut off in the front jack circuit 53, the solenoid 55a is not excited, and the operation of the boom 12 and the like cannot be controlled any more. In this way, the pillar truck 1 is reliably prevented from falling sideways.

It should be noted that even if the above-described regulation reaction force state occurs, the boom 1 is moved in a direction for stabilizing the vehicle body 2 (reducing direction or the like).
When the operation lever 41 is operated so as to operate
Based on the release signal from the controller 42, the boom 12
Restrictions can be lifted.

By the way, even when the boom 12 is turned rearward in the rear area, as shown in IV of FIG. Because the center of gravity of the rear jack J3 is biased toward the front, a regulated reaction force state may occur at the two rear jacks J3 and J4. However, in this case, since the front wheels of the pole carriage 1 are in contact with the ground and support the vehicle body 2, the vehicle body 2 cannot fall forward. In this case, in the rear jack circuit 51, all the ground reaction force detectors Sa3, Sb3, Sa4, and Sb4 are open, and all the coils C7 to C10 are not excited, so that the first switches K7 to K10 are closed. Will remain
The coil C11 is excited. Therefore, electric power is supplied to the solenoid 55a via the rear area side contact of the turning position detector TS and the excitation circuit 52b, and the solenoid 55a is excited. Therefore, the operator can continue the operation control of the boom 12 and the like as it is.

Next, the case where the boom 12 is in the turning position in the front area will be described. In this case, the first ground reaction force detectors Sa of the rear two jacks J3, J4
When only Sa3 and Sa4 are open, the coils C7 and C9 are excited in the rear jack side circuit 51 and the first switches K7 and K9 are opened, so that the coil C11 is not excited and the switch C11 is not excited. K11 is open.
However, in the front jack side circuit 53, the second switch K
7 'and K9' are closed, and the ground reaction force detectors Sa1 and S2 of the front two jacks J1 and J2, which can be fulcrums.
b1, Sa2, and Sb2 are all closed. Therefore, the solenoid 55a is excited by the current flowing through the front area side contact of the turning position detector TS and the front jack side circuit 53. Therefore, the worker
Operation control of the boom 12 and the like can be performed. However,
When the second ground reaction force detector (for example, Sb3) of one of the rear two jacks J3 and J4 is also opened, the coil C9 is de-energized and the second switch K9 'is opened. The second parallel circuit 53b in the front jack side circuit 53 is completely shut off, and the solenoid 55a is not excited. In this way, the operation of the boom 12 and the like in the direction in which the vehicle body 2 falls forward is restricted, and the safety of work is ensured.

As shown in II of FIG. 1, when excavation work is performed by the auger device 22, the excavation work detector KS is closed, the second restriction exclusion line 57 is opened, and the solenoid 55a is Excited. Therefore, regardless of whether the ground reaction force detector in the rear jack circuit 51 and the front jack circuit 53 is open or closed,
That is, no matter which jack produces the restriction reaction force, the operation of the boom 12 is not restricted. Therefore, for example, when the auger drill 22b digs into the ground behind the vehicle body, the digging operation can be continued even if the front jacks J1 and J2 float up from the ground.

[0031]

As described above, according to the safety device of the present invention, when the boom is pivoted in the rear area,
The boom operation is not restricted even when the restriction reaction occurs in the two jacks attached to the rear left and right sides of the vehicle body. Therefore, if this safety device is used,
If it is clear that the vehicle body cannot fall even if the regulation reaction force state occurs as described above, the operation of the boom can be continued as it is, and it is possible to reliably prevent trouble from occurring in the work be able to. Further, when the excavator mounted on the boom is digging the ground, the operation of the boom is not restricted even if a regulated reaction force state occurs in the jack mounted on the opposite side of the vehicle body with respect to the excavator. It has become. Therefore, excavation work can be continued in this case as well.

[Brief description of the drawings]

FIG. 1 is a side view of a digging column car provided with a safety device according to the present invention.

FIG. 2 is a side sectional view of a jack attached to the pole carriage.

FIG. 3 is a block diagram of a control device and a safety device of the pole carriage.

FIG. 4 is an electric circuit diagram of the safety device.

FIG. 5 is a conceptual diagram of a turning position detector of the safety device.

FIG. 6 is an operation explanatory view of the safety device.

[Explanation of symbols]

 DESCRIPTION OF REFERENCE NUMERALS 1 digging column car 12 boom 13 winch 22 auger device 50 safety device 52a switching circuit (first regulation exclusion means) 55 unload valve 57 second regulation exclusion means J1 to J4 jack Sa, Sb ground reaction force detector TS turning Position detector KS Excavation work detector

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B66C 19/00-23/94 B66F 9/00-11/04

Claims (1)

(57) [Claims] 1. A boom capable of freely turning and raising and lowering with respect to the vehicle body is mounted on a truck body, and an excavator is mounted on the boom so as to be suspended and raised, and is grounded in front, rear, left and right of the vehicle body. In a boom working vehicle to which a jack supporting a lever body is attached, a ground reaction force acting on one of two adjacent jacks of the four jacks is lower than a first predetermined value and acts on the other. A safety device for a boom working vehicle, comprising: a regulating unit that regulates operation of the boom when a ground reaction force falls below a second predetermined value smaller than the first predetermined value. The turning position of the boom with respect to the vehicle body is more than a line connecting the center of rotation of the boom and the jacks attached to the front left and right sides of the vehicle body in plan view. Turning position detecting means for detecting whether or not the boom is in the rear area, when the turning position of the boom is detected to be in the rear area, First restriction exclusion means for excluding the restriction reaction force state generated in the two jacks attached to the boom operation restriction by the restriction means, and whether the excavator is in a suspended state. Excavation work detection means for detecting whether the excavator is in a suspended state by the excavation work detection means, the regulation reaction force state generated between any of the jacks by the regulation means A second regulation exclusion unit for excluding the boom operation regulation from being applied to the boom operation regulation.