JP3717328B2 - Crawler boom work vehicle safety device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is provided with a boom that can move up and down, extend, and turn on a traveling body that is provided with a crawler device and can move straight and turn, and a working device such as a work table or a crane device is attached to the tip of the boom. The present invention relates to a safety device for a crawler-type boom working vehicle.
[0002]
[Prior art]
A crawler-type boom working vehicle is generally provided with a crawler device and a boom that can move up and down, extend and retract on a traveling body that can move straight and turn. A work device such as a crane device is attached. Then, it is possible to perform work according to the purpose by moving the working device to a desired position by raising, lowering, expanding and contracting and turning the boom. In such a crawler-type boom working vehicle, it is possible to operate the boom while running the traveling body. By combining these two operations, the work device can be moved quickly and smoothly. It can be done.
[0003]
In addition, in order to prevent the traveling speed of the working device at the tip of the boom from becoming excessive due to the turning of the traveling body, when the turning operation input of the traveling body is performed, the traveling body is operated based on this operation. While calculating the turning speed of the traveling body generated when turning, the moving speed of the working device is obtained from the relationship between the turning speed and the position of the work table detected separately, and the moving speed of the working device is determined based on a predetermined reference. There may be a built-in safety device that restricts the turning of the traveling body so as not to exceed the speed. According to such a safety device, an excessive inertial force (centrifugal force) acts on the work table, and the traveling body falls over, or a large impact is given to an operator who has boarded the work table when turning is stopped. Can be prevented.
[0004]
[Problems to be solved by the invention]
However, in such a crawler-type boom working vehicle, when the boom is swung in the same direction as the traveling body is swiveled, the moving speed of the working device is determined by the traveling movement of the traveling body. Since the moving speed component due to the turning of the boom is added to the speed component, the reference speed may be exceeded.
[0005]
The present invention has been made in view of such problems, and even when the boom is swung in the same direction while turning the traveling body, the traveling body can be turned over or the working device (work table) can be turned over. It is an object of the present invention to provide a crawler-type boom working vehicle safety device that does not give a large impact (excessive inertia force) to the above worker.
[0006]
[Means for Solving the Problems]
In order to achieve such an object, a safety device for a crawler-type boom working vehicle according to the first aspect of the present invention includes a crawler device that is capable of traveling straight and turning, a undulation attached to the traveling body, In a crawler-type boom working vehicle having a boom that can be expanded and contracted and swiveled and a work device (for example, the work table 15 in the embodiment) attached to the tip of the boom, a travel command for a traveling body is issued. Travel command means to perform (for example, crawler device operation lever 23 in the embodiment), turn command means to perform boom rotation command (for example, boom operation lever 21 in the embodiment), and the position of the work device relative to the traveling body are detected. Output by operation of position detection means (for example, undulation angle detector 31, length detector 32 and turning angle detector 33 in the embodiment) and travel command means Together to run the running body according to the running command control means for controlling pivoting of the boom in accordance with the turning command output by operating the turning command means (e.g., the controller 40 in the embodiment) which is a control means However, when a traveling command for turning the traveling body and a turning command for turning the boom are made at the same time, the turning motion of the traveling body is controlled by regulating the turning motion of the boom regardless of the turning command for turning the boom. It is comprised so that only the driving | running | working command to issue may be issued . Then , when a travel command for turning the traveling body is issued , the control means uses the detection information from the position detection means to determine the moving speed of the work device that is generated when the traveling body is turned based on the command. And when it is determined that the moving speed of the working device exceeds a predetermined fixed reference speed, the turning speed of the traveling body is reduced so that the moving speed of the working device is equal to or lower than the reference speed. Let me do it.
[0007]
A crawler-type boom working vehicle safety device according to a second aspect of the present invention includes a crawler device and a traveling body that can travel straight and turn, and a boom that is attached to the traveling body and can freely move up and down, extend and contract, and turn. And a crawler-type boom working vehicle configured to have a working device attached to the tip of the boom, a travel command means for giving a travel command for the traveling body, a turn command means for giving a boom turn command, A position detecting means for detecting a position of the work device relative to the traveling body; and a boom according to a turning command output by an operation of the turning command means while causing the traveling body to travel according to a traveling command output by an operation of the traveling command means. and control means for controlling pivoting of the control means, a turning command for turning the travel command and the boom for turning the running body is made simultaneously, and the direction of the turning When was the same direction is configured to emit only the travel command to perform the turning of the traveling body to regulate the pivotal movement of regardless boom turning command to pivot the boom. Then , when a travel command for turning the traveling body is issued , the control means uses the detection information from the position detection means to determine the moving speed of the work device that is generated when the traveling body is turned based on the command. And when it is determined that the moving speed of the working device exceeds a predetermined constant reference speed, the turning speed of the traveling body is reduced so that the moving speed of the working device is equal to or lower than the reference speed. Let me do it.
[0008]
A crawler-type boom working vehicle safety device according to a third aspect of the present invention includes a crawler device that can travel straight and turn, and a boom that is attached to the travel body and that can move up and down, extend and retract, and turn freely. And a crawler-type boom working vehicle configured to have a working device attached to the tip of the boom, a travel command means for giving a travel command for the traveling body, a turn command means for giving a boom turn command, A position detecting means for detecting a position of the work device relative to the traveling body; and a boom according to a turning command output by an operation of the turning command means while causing the traveling body to travel according to a traveling command output by an operation of the traveling command means. And a control means for performing control for turning. Then , when a travel command for turning the traveling body is issued , the control means uses the detection information from the position detection means to determine the moving speed of the work device that is generated when the traveling body is turned based on the command. And when it is determined that the moving speed of the working device exceeds a predetermined constant reference speed, the turning speed of the traveling body is reduced so that the moving speed of the working device is equal to or lower than the reference speed. carry out Te, a turning command for turning the travel command and the boom for turning the running body is made simultaneously, and if the direction of the turning was the same direction, the control means is caused by turning of the traveling body calculating a moving speed component of the working device caused by the turning of the moving velocity components and the boom of the working device, the working device caused by the turning of the moving velocity components and the boom of the working device caused by turning of the traveling body As the sum of the dynamic speed component is less than the reference speed, both causes slowing the turning of the turning and the boom of the running body.
[0009]
According to the crawler type boom working vehicle safety device according to the first to third aspects of the present invention, not only when a command for turning the traveling body suddenly is issued, but also at the same time as the command for turning traveling of the traveling body. Even when the direction boom turn command is issued, the moving speed of the work device does not exceed a predetermined reference speed, so that the traveling body can be overturned or the operator on the work device (work table) can be A large impact (excessive inertial force) can be prevented, and the safety of work can be improved.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 2 shows a crawler-type boom work vehicle (hereinafter referred to as a work vehicle) 10 provided with a safety device according to the first aspect of the present invention. In this work vehicle 10, a swivel base 13 is swingably provided on an upper part of a traveling body 11 having a pair of left and right crawler devices 12, 12. It is attached to move up and down freely. A work table 15 for boarding a work vehicle is attached to the tip of the boom 14 so as to be able to turn horizontally with respect to the tip of the boom 14.
[0011]
Each of the left and right crawler devices 12 and 12 is driven to rotate by receiving pressure oil supplied from a hydraulic pump P driven by the engine E (the engine E and the hydraulic pump P are not shown in FIG. 2). The wheel 12a includes an idler wheel 12b that can freely rotate, and a crawler belt 12c that is provided between the wheels 12a and 12b.
[0012]
The swivel base 13 can be horizontally swiveled with respect to the traveling body 11 by hydraulically driving a swivel motor 16 built in the swivel base 13 itself. The boom 14 includes a base boom 14a, an intermediate boom 14b, and a distal boom 14c that are nested. The boom 14 can be expanded and contracted by hydraulically driving a telescopic cylinder 17 built in the boom 14. Further, the boom 14 is attached to the swivel base 13 with the base end boom 14a pivotally connected to a boom support member 18 formed at the upper part of the swivel base 13, and straddles both the swivel base 13 and the base end boom 14a. The traveling body 11 can be raised and lowered by hydraulically driving the raising and lowering cylinder 19 provided. The hoisting cylinder 19, the telescopic cylinder 17, and the turning motor 16 operate in response to the hydraulic pressure supplied from the hydraulic pump P built in the swivel base 13, similar to the starting wheel 12 a of the crawler device 12 described above. ing.
[0013]
A vertical post (not shown) configured to be always kept vertical is attached to the tip of the boom 14, and the work table 15 is attached to the vertical post. Therefore, the work table 15 is always kept in a horizontal state regardless of the posture of the boom 14. The work table 15 can be swung horizontally with respect to the vertical post by driving an electric swing motor 20 provided inside the work table 15.
[0014]
As shown in FIG. 3, the work table 15 is provided with a boom operation lever 21, a swing operation lever 22, and a crawler device operation lever 23, and the crawler device operation lever 23 is connected to the left and right crawler devices 12, 12. It consists of corresponding levers 23a and 23b. The boom operating lever 21 can be tilted in all 360 degrees including the front, back, left and right from the neutral position, and can be twisted around the shaft. The swinging lever 22 and the left and right crawler device operating levers 23a and 23b are Both can be tilted forward or backward from the neutral position. All of these levers are manually operated, and are configured to automatically return to the neutral position when the hand is released from the tilted or twisted state.
[0015]
At the base of the boom operating lever 21, a potentiometer that detects a tilting state (tilting direction and tilting amount) of the lever 21 in the front-rear direction, a potentiometer that detects a tilting state (tilting direction and tilting amount) in the left-right direction, and a twist A potentiometer for detecting the state (twist direction and twist amount) is provided. Information detected by each potentiometer is output as a command signal for driving the hoisting cylinder 19, a command signal for driving the telescopic cylinder 17, and a command signal for driving the swing motor 16.
[0016]
The swing operation lever 22 is an on / off switch of the swing motor 20, and is turned off when the lever 22 is in the neutral position and turned on when the lever 22 is tilted forward or backward. Yes. Further, when the swinging operation lever 22 is tilted forward, the swinging motor 20 rotates in the forward direction and the work table 15 rotates counterclockwise, and when the swinging operation lever 22 is tilted backward, The swing motor 20 is rotated in the reverse direction so that the work table 15 is rotated clockwise around the vertical post.
[0017]
Potentiometers for detecting the tilting state (tilting direction and tilting amount) of the levers 23a and 23b in the front-rear direction are provided at the bases of the left and right crawler device operating levers 23a and 23b, respectively. The information is output as command signals for driving the left and right crawler devices 12 and 12, respectively.
[0018]
The base end portion and the tip end portion of the base end boom 14 are provided with a undulation angle detector 31 and a length detector 32, respectively, and the undulation angle and length of the boom 14 are detected by these detectors 31,32. It is like that. In addition, a turning angle detector 33 is provided in the vicinity of the turning motor 16 so that the turning angle of the turntable 13, that is, the turning angle of the boom 14 is detected.
[0019]
FIG. 1 is a block diagram showing a configuration of a control system including a safety device according to the present invention. As shown in this figure, the controller 40 has a boom operation control unit 41, a crawler device operation control unit 42, and a restriction determination unit 43. The command signal output by operating the boom operation lever 21 is input to the boom operation control unit 41, and the command signal output by operating the left and right crawler device operation levers 23a and 23b is input to the crawler device operation control unit 42, respectively. . Further, detection information from the undulation angle detector 31, the length detector 32, and the turning angle detector 33 are all input to the boom operation control unit 41. The boom operation control unit 41 and the crawler device operation control unit 42 can exchange information with the restriction determination unit 43, respectively.
[0020]
The hoisting cylinder actuating valve 51, the telescoping cylinder actuating valve 52 and the swinging motor actuating valve 53 for controlling the hydraulic pressure supply to the hoisting cylinder 19, the telescopic cylinder 17 and the swing motor 16 to operate them are commands from the boom operation control unit 41. Electromagnetic proportional driving is performed based on the signal. Also, the left and right crawler device operation valves 54a and 54b that operate by controlling the supply of hydraulic pressure to the left and right crawler devices 12 are electromagnetically driven based on a command signal from the crawler device operation control unit 42. It has become.
[0021]
In the crawler-type boom working vehicle 10 having such a configuration, when an operator who has boarded the work table 15 tilts or twists the boom operation lever 21, a command signal corresponding to the operation is input to the boom control unit 41 of the controller 40. Is done. The boom operation control unit 41 controls the operation valves 51 to 53 according to information on the operation direction (tilt or twist direction) and the operation amount (tilt amount or twist amount) of the boom operation lever 21 included in the input command signal. Electromagnetic proportional drive. As a result, the boom 14 moves up and down, expands and contracts, and turns according to the operation of the boom operating lever 21.
[0022]
As described above, in the work vehicle 10, the boom operating lever 21 can be operated to cause the boom 14 to be raised, retracted, expanded, and turned, and as described above, the swing operating lever 22 is operated to move the work table 15 vertically. Since the head can be swung around the post, an operator who has boarded the work table 15 moves the work table 15 to a desired position by operating his own lever and arranges the work table 15 in a desired direction to perform work at a high place. It is possible.
[0023]
Further, when an operator on the work table 15 tilts the left and right crawler device operation levers 23a and 23b, a command signal corresponding to the operation is input to the crawler device operation control unit 42 of the controller 40. The crawler device operation control unit 42 controls the left and right crawler device operation valves according to information on the operation direction (tilt direction) and the operation amount (tilt amount) of the left and right crawler device operation levers 23a and 23b included in the input command signal. 54a and 54b are electromagnetically driven. As a result, the left and right crawler devices 12 rotate in the forward or reverse direction in accordance with the operation of the crawler device operating levers 23a and 23b. The traveling speed of the traveling body 11 can be controlled by operating the crawler device operating levers 23a and 23b to adjust the driving amount of the crawler device operating valves 54a and 54b. The above control can also be performed by adjusting the amount of hydraulic oil discharged from the hydraulic pump P. In this case, the noise of the engine can be reduced. Even when the hydraulic pump P is a variable displacement type, the traveling speed of the traveling body 11 can be controlled by adjusting the discharge amount of the hydraulic oil.
[0024]
The left and right crawler devices 12 and 12 can be operated independently and forward and reverse in the desired direction, and the traveling body 11 can be moved forward or backward by operating in the same direction on the left and right simultaneously. Is possible. In addition, the traveling body 11 can be caused to turn by operating only one of the left and right or in opposite directions to the left and right. The former is a turn (pivot turn) with the crawler device 12 on the non-actuated side as a fulcrum, and the latter is a turn (spin turn) on the spot.
[0025]
In the boom operation control unit 41, the position of the work table 15 relative to the traveling body 11 is always calculated based on the detection results from the undulation angle detector 31, the length detector 32, and the turning angle detector 33. The information is sent to the regulation determination unit 43. In addition, command signals from the left and right crawler device operation levers 23a and 23b are sent from the crawler device operation control unit 42 to the restriction determination unit 43, and the restriction determination unit 43 receives commands from the crawler device operation levers 23a and 23b. When it is detected that the signal causes the traveling body 11 to turn, the torque for turning the traveling body 11 corresponding to the command signal, the calculated position of the work table 14 and the load weight of the work table 14 ( The weight distribution of the work vehicle 10 as a whole may be calculated using a load detector, which may be fixed to the maximum value.
[0026]
Next, the restriction determination unit 43 determines the turning speed (angular speed) of the traveling body 11 that will occur when the traveling body 11 is turned based on the command signal from the torque and the weight distribution of the work vehicle 10 as a whole. And the turning travel was performed from the relationship between the turning speed and the position of the work table 15 with respect to the traveling body 11 (specifically, the horizontal distance between the turning axis of the turn table 13 and the work table 15). The moving speed of the work table 15 that will sometimes occur (the moving speed in the horizontal plane due to turning) is calculated. Then, the movement speed of the work table 15 calculated in this way is compared with a predetermined reference speed, and when it is determined that the movement speed of the work table 15 exceeds the reference speed, the crawler device operation control unit 42. A restriction signal is output to
[0027]
As described above, the crawler device operation control unit 42 operates the left and right crawler devices 12 based on the command signals output from the crawler device operation levers 23a and 23b (activates the left and right crawler device operation valves 54a and 54b). However, when the restriction signal is output from the restriction determination unit 43, the turning of the traveling body 11 is decelerated so that the moving speed of the work table 15 is equal to or less than the reference speed (turning is restricted). ) For this reason, even if it is a case where operation which makes the traveling body 11 rotate rapidly by the crawler device operation levers 23a and 23b, the moving speed of the work table 15 does not exceed the reference speed.
[0028]
The command signal from the boom operation lever 21 is sent from the boom operation control unit 41 to the restriction determination unit 43. The restriction determination unit 43 turns the traveling body 11 by the left and right crawler device operation levers 23a and 23b. When it is detected that the instruction to turn and the instruction to turn the boom 14 by the boom operation lever 21 are simultaneously made, a restriction signal is output to the boom operation control unit 41.
[0029]
The boom operation control unit 41 that has received this restriction signal ignores the command signal from the boom operation lever 21 and does not perform the turning operation of the boom 14, and only the crawler device operation control unit 42 performs the crawler device. The crawler device 12 is operated based on command signals from the operating levers 23a, 23b, and the traveling body 11 is turned. Even in this case, the turning of the traveling body 11 such that the moving speed of the work table 15 exceeds the reference speed is restricted as described above. For this reason, even if it is a case where the turning command of the boom 14 of the same direction is performed simultaneously with the command of the turning traveling of the traveling body 11, the moving speed of the work table 15 does not exceed the reference speed. Even in such a case, it goes without saying that the turning of the traveling body 11 such that the moving speed of the work table 15 exceeds the reference speed is restricted as described above.
[0030]
As described above, when the operation of turning the traveling body 11 abruptly is performed by the crawler device operating levers 23a and 23b, or the turning command of the boom 14 in the same direction as the turning instruction of the traveling body 11 is issued simultaneously. Even if it is performed, the moving speed of the work table 15 does not exceed a predetermined reference speed, so that the traveling body 11 is overturned or a large impact (excessive inertia force) is applied to the worker on the work table 15. Can be prevented and work safety can be improved. Note that the reference speed is such that when the boom 14 is turned, there is no risk that the traveling body 11 will fall due to the inertial force (centrifugal force) even if the loading weight of the work table 15 is maximum. The size is set so as not to give a large shock to the worker who has boarded the work table 15 at the time of stopping (for example, about 0.4 to 0.5 m / sec if the length of the boom 14 is about 10 m).
[0031]
The safety device according to the second aspect of the invention turns the traveling body 11 by the left and right crawler device operating levers 23a and 23b in the processing in the restriction determination unit 43 of the controller 40 in the safety device according to the first aspect of the invention. The only difference is the processing when the command for running and the command for turning the boom 14 by the boom operating lever 21 are made simultaneously. That is, the restriction determination unit 43 simultaneously receives a command for turning the traveling body 11 by the left and right crawler device operation levers 23a and 23b and a command for turning the boom 14 by the boom operation lever 21, and the directions of both the turns. Are detected in the same direction, a restriction signal is output to the boom operation control unit 41.
[0032]
The boom operation control unit 41 that has received this restriction signal ignores the command signal from the boom operation lever 21 and does not perform the turning operation of the boom 14, and only the crawler device operation control unit 42 performs the crawler device. The crawler device 12 is operated based on command signals from the operating levers 23a, 23b, and the traveling body 11 is turned. Even in this case, the turning of the traveling body 11 such that the moving speed of the work table 15 exceeds the reference speed is restricted as described above. Therefore, also in this configuration, the moving speed of the work table 15 does not exceed a predetermined reference speed, and the same effect as that of the safety device according to the first aspect of the present invention can be obtained.
[0033]
Further, the safety device according to the third aspect of the present invention is the same as the safety device according to the second aspect of the present invention. Only the processing when the command for turning the traveling body 11 by the crawler device operating levers 23a and 23b and the command for turning the boom 14 by the boom operating lever 21 are made simultaneously is different. That is, in the safety device according to the third aspect of the present invention, the restriction determination unit 43 commands the left and right crawler device operating levers 23a and 23b to turn the traveling body 11 and the boom operating lever 21 to turn the boom 14. Are detected at the same time, and a restriction signal is output to the crawler device operation control unit 42 and the boom operation control unit 41 when it is detected that both turning directions are the same direction.
[0034]
The crawler device operation control unit 42 and the boom operation control unit 41 that have received this restriction signal, the movement speed component of the work table 15 caused by the turning of the traveling body 11 and the movement speed component of the work table 15 caused by the turning of the boom 15 ( In any case, the traveling body 11 and the boom 14 are turned so that the sum of the position of the work table 15 with respect to the traveling body 11 obtained using the detectors 31 to 33 does not exceed the reference speed. And decelerate both. Even in such a configuration, the moving speed of the work table 15 does not exceed a predetermined reference speed, and the same effect as the safety device according to the first and second aspects of the present invention can be obtained.
[0035]
Although the embodiment of the safety device according to the present invention has been described above, the present invention is not limited to the above-described configuration, and various modifications can be made. For example, in the above-described embodiment, a self-propelled crawler boom working vehicle has been described as an example. It can be a car. Further, the working device at the tip of the boom 14 may be a crane device (sheave) or the like instead of the work table 15, and the same effect can be obtained.
[0036]
【The invention's effect】
As described above, according to the crawler-type boom working vehicle safety device of the present invention, not only when the traveling body is instructed to turn suddenly, Even when the direction boom turn command is issued, the moving speed of the work device does not exceed a predetermined reference speed. A large impact (excessive inertial force) can be prevented, and the safety of work can be improved.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a control system including a safety device in the present invention.
FIG. 2 is a side view of a crawler-type boom working vehicle equipped with the safety device.
FIG. 3 is a perspective view of a work table of the crawler boom working vehicle.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Crawler type boom working vehicle 11 Traveling body 14 Boom 15 Work bench | platform (work apparatus)
21 Boom operating lever (turning command means)
23 Crawler device operation lever (travel command means)
31 Undulating angle detector (position detection means)
32 Length detector (position detection means)
33 Turning angle detector (position detection means)
40 controller (control means)

Claims (3)

A traveling body equipped with a crawler device and capable of traveling straight and turning;
A boom that is attached to the traveling body and can freely move up and down, extend and contract, and turn;
A crawler-type boom working vehicle safety device configured to include a working device attached to a tip of the boom,
Travel command means for performing a travel command of the traveling body;
Turn command means for making a turn command of the boom;
Position detecting means for detecting the position of the working device relative to the traveling body;
And control means for controlling the turning of the boom in accordance with the turning command output by the operation of the turning command means while causing the traveling body to run in accordance with the running command output by the operation of the running command means. ,
When the traveling command for turning the traveling body and the turning command for turning the boom are simultaneously issued, the control means regulates the turning motion of the boom regardless of the turning command for turning the boom. It is configured to issue only a travel command that causes the traveling body to turn.
When the travel command for turning the traveling body is issued by the control means, the moving speed of the working device generated when the traveling body is turned based on the command is determined from the position detection means. When the moving speed of the working device is determined to exceed a reference speed that is a predetermined constant value, the moving speed of the working device is set to be equal to or lower than the reference speed. A safety device for a crawler-type boom working vehicle, characterized in that the turning of a traveling body is decelerated. A traveling body equipped with a crawler device and capable of traveling straight and turning;
A boom that is attached to the traveling body and can freely move up and down, extend and contract, and turn;
A crawler-type boom working vehicle safety device configured to include a working device attached to a tip of the boom,
Travel command means for performing a travel command of the traveling body;
Turn command means for making a turn command of the boom;
Position detecting means for detecting the position of the working device relative to the traveling body;
And control means for controlling the turning of the boom in accordance with the turning command output by the operation of the turning command means while causing the traveling body to run in accordance with the running command output by the operation of the running command means. ,
When the travel command for turning the traveling body and the turn command for turning the boom are made at the same time and the directions of both turns are the same direction, the control means sets the turn command to turn the boom. Regardless of being configured to issue only a running command to regulate the turning movement of the boom and to make the running body turn.
When the travel command for turning the traveling body is issued by the control means, the moving speed of the working device generated when the traveling body is turned based on the command is determined from the position detection means. When the moving speed of the working device is determined to exceed a reference speed that is a predetermined constant value, the moving speed of the working device is set to be equal to or lower than the reference speed. A safety device for a crawler-type boom working vehicle, characterized in that the turning of a traveling body is decelerated. A traveling body equipped with a crawler device and capable of traveling straight and turning;
A boom that is attached to the traveling body and can freely move up and down, extend and contract, and turn;
A crawler-type boom working vehicle safety device configured to include a working device attached to a tip of the boom,
Travel command means for performing a travel command of the traveling body;
Turn command means for making a turn command of the boom;
Position detecting means for detecting the position of the working device relative to the traveling body;
And control means for controlling the turning of the boom in accordance with the turning command output by the operation of the turning command means while causing the traveling body to run in accordance with the running command output by the operation of the running command means. ,
When a traveling command for turning the traveling body is issued by the control means, the moving speed of the work device generated when the traveling body is caused to turn based on the command is output from the position detecting means. Calculated using the detection information, and when it is determined that the moving speed of the working device exceeds a predetermined constant reference speed, the travel speed is set so that the moving speed of the working device is equal to or lower than the reference speed. Let the body turn while decelerating,
When a traveling command for turning the traveling body and a turning command for turning the boom are made at the same time, and both turning directions are the same direction,
Said control means, said calculating a moving speed component of the working device caused by the turning of the boom and the movement speed component of the running body of turning the working device caused by, of the working device caused by turning of the traveling body The traveling of the traveling body and the turning of the boom are both decelerated so that the sum of the moving speed component and the moving speed component of the working device generated by the turning of the boom is equal to or less than the reference speed. A crawler-type boom working vehicle safety device.

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