JPH0577191U - Working radius limiting device for working machine with boom - Google Patents

Abstract

(57) [Abstract] [PROBLEMS] To provide a working radius limiting device for a working machine that can control in a proper and sufficient deceleration region without causing excess or deficiency in the deceleration region depending on the boom state. [Structure] A crane vehicle 1 for rotating, hoisting, and telescopically driving a telescopic boom 5 on a vehicle 2, in which a boom length detector 33, a hoisting angle detector 34, and a telescopic boom tip portion of the telescopic boom can be located. It has a working radius limit value setter 35 capable of setting a radius limit value, receives signals from these and performs calculation, and receives a regulation signal output so that the tip of the telescopic boom 5 does not exceed the limit value. In the work radius limiting device that regulates the drive, the control device 31 obtains a boom hoisting angle limit value from the length signal and the work radius limit value signal, and the boom hoisting angle limit value is equal to or more than a predetermined value. When approaching, the restriction signal is output to the solenoids 7b and 7c to restrict the undulating drive of the telescopic boom 5.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a work radius limiting device for a work machine having a boom.

[0002]

[Prior Art]

For example, in a work machine with a boom, such as a crane or an aerial work vehicle, in order to prevent the tip of the boom and the suspended load from colliding with an obstacle, the projection position of the boom tip on the ground There is also equipped with a limiting device that limits the range in which the tip of the boom can move so that is within the range of the required radius (limit radius R _set ) from the swing center 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 radius R _set , the tip of the boom has a limited half radius R _set. It is necessary to slow down the moving boom before reaching.

By the way, in the conventional working machine, the deceleration start position of the boom is, as shown in FIGS. 11 and 12, a deceleration start radius R _B before the dimension r (for example, 2 m) based on the limit radius R _set. Is _set concentrically with the limit radius R _set, and when the boom tip position reaches the deceleration start radius R _B , the work equipment limit device starts decelerating the associated drive of the boom and The boom drive is controlled to stop when the radius reaches R _set .

[0005]

[Problems to be solved by the device]

However, in the conventional work machine limiting device that controls in this way, the limit radius R _set is _set to a relatively small radius and a relatively large radius, and the deceleration start position to the stop position are set. There was a drawback that the deceleration area up to was different.

For example, when the outer limit radius R _set is _set to a relatively small radius as shown in FIG. 12, the deceleration region that regulates the fall drive of the boom is the angle θ ₁ , and the outer limit radius R _{set is set.} When is set to a relatively large radius, the deceleration region that regulates the boom fall drive is θ ₂ .

Here, the distance r from the deceleration start radius R _B to the limit radius R _set is the same for both, but at the boom restraint angle θ ₁ , the boom deceleration region within the deceleration region from the deceleration start position to the stop position is In some cases, the fall drive could not be stopped, and the boom tip was stopped beyond the limit radius R _set , and the boom tip was sometimes brought into contact with an obstacle near the limit. In addition, with the boom restraint angle θ ₂ , the deceleration area from the deceleration start position to the stop position was too large, and the area where the boom lodge drive was slowed down unnecessarily was increased, resulting in poor workability.

[0008] The above is a case of restricting the fall of the boom when the outer limit radius is restricted, but a similar problem also occurs when the boom elevating drive is restricted when the inner limit radius is restricted. have.

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

That is, when the outer limit radius R _set is _set to a relatively small radius as shown in FIG. 12, the deceleration region that restricts the extension drive of the boom becomes the length L ₁ , and the outer limit half radius R _set When is set to a relatively large radius, the deceleration region that regulates boom extension drive is length L ₂ .

Although the distance r from the deceleration start radius R _B to the limit radius R _set is the same for both as described above, the relationship between the boom extension restriction lengths L ₁ and L ₂ is L ₁ > L. _{It is 2} .

In other words, it may not be possible to actually stop the raising and lowering drive of the boom within the deceleration region from the deceleration start position to the stop position with the boom extension regulation length L ₂ , and the boom tip end part may be limited to the limit radius R _It sometimes stopped beyond the _set and brought the boom tip into contact with an obstacle near the limit. Also, with the boom extension regulation length L ₁ , the deceleration area from the deceleration start position to the stop position is too large, and the area for decelerating the boom extension drive is unnecessarily increased to deteriorate workability. It was

Similarly, in the case where the inner limit height is restricted and the boom reduction drive is restricted, the same problem occurs.

Further, as shown in FIG. 11, the conventional working machine limitation device drives the boom up and down by the boom length even when the outer limit radius R _set and the deceleration start radius R _B are the same. The undulation limit angle, which is the deceleration area from the deceleration start position to the stop position to be regulated, has the following relationship.

That is, when the boom length is long, the undulation regulation angle, which is the deceleration region from the deceleration start position to the stop position, is θ _a . The undulation regulation angle, which is the deceleration region from the deceleration start position to the stop position when the boom length is short, is θ _c . When the boom length is an intermediate length, the undulation restriction angle, which is the deceleration area from the deceleration start position to the stop position, is θ _b .

[0016] wherein each hoisting limit angle is in relation of _{θ a <θ b <θ c} , the deceleration region of the theta in to the deceleration start position or we stop position _a is insufficient, the theta _c deceleration start position The same problem as above was caused in that the deceleration area from the stop position to the stop position was too large.

Further, the extension restriction length, which is the deceleration region from the deceleration start position to the stop position where the extension drive of the boom is restricted by the hoisting angle of the boom, 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 region from the deceleration start position to the stop position when the boom hoist angle is small, is L _c . It is the boom regulation length L _b , which is the deceleration area from the deceleration start position to the stop position when the boom hoisting angle is the middle angle.

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

As described above, in the conventional work machine limitation device, the deceleration region from the deceleration start position to the stop position differs depending on the boom state. Therefore, the deceleration region from the deceleration start position to the stop position has an excess or deficiency. Occurred and was not satisfactory as a control.

An object of the present invention is to provide a working radius limiting device for a working machine that can control the deceleration region in an appropriate and sufficient deceleration region without causing excess or deficiency in the deceleration region depending on the boom state. is there.

[0022]

[Means for Solving the Problems]

 In order to achieve this object, a device according to claim 1 is a work having a boom equipped with a drive means for mounting a telescopic boom on a vehicle so that the telescopic boom can be swung and raised and lowered, and driving the telescopic boom to be swung, raised and lowered and extended and retracted. Machine, which detects the hoisting angle of the telescopic boom and outputs a hoisting angle signal, a length detector that detects the boom length of the telescopic boom and outputs a length signal, and the tip of the telescopic boom. And a working radius limit value setter that outputs a working radius limit value signal for setting a limit value of the working radius at which the position can be located, and calculates by receiving the signals from the respective detectors and setters, Working radius of a working machine equipped with a computing unit that outputs a regulation signal so that the working radius where the telescopic boom tip is located does not exceed the working radius limit value, and a regulation unit that regulates the drive unit in response to this regulation signal To the limiting device The regulation means is configured to regulate the hoisting drive of the telescopic boom in response to the regulation signal, and the computing unit determines the hoisting angle limit of the boom from the length signal and the working radius limit value signal. A value is obtained, and the regulation signal is output when the hoisting angle signal approaches the boom hoisting angle limit value by a predetermined value or more.

[0023]

[Action]

 According to the first aspect of the present invention, the operation unit replaces the work radius limit value signal from the work radius limit value setter with the boom undulation angle limit value together with the length signal from the length detector. When the hoisting angle signal approaches the hoisting angle limit value of the boom by a predetermined value or more, a signal is output to the restricting means to restrict the hoisting driving means of the telescopic boom.

Therefore, the control is performed not to the working radius but directly to the hoisting angle of the telescopic boom. The regulation start position of the hoisting drive of the telescopic boom is the hoisting drive stop position of the telescopic boom. Since it is always determined and regulated by the hoisting angle in front of the telescopic boom, the hoisting drive regulation of the telescopic boom from the start position to the stop position of the telescopic boom does not differ depending on the telescopic boom state, and it is always a constant angle. can do .

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

[0026]

【Example】

 The present invention will be described below with reference to an embodiment of a mobile crane shown in the drawings.

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

The crane 3 has a swivel base 4 which is rotatable on a vehicle 2 around a vertical axis, and a telescopic boom 5 which is installed on the swivel base 4 so as to be capable of hoisting.

The telescopic boom 5 includes a base boom 5a mounted on the swivel 4 via a pivot 6 so as to be capable of undulating, and an intermediate boom 5b inserted inside the tip of the base boom 5a. The intermediate boom 5b is telescopically expandable / contractible in three stages with the tip side boom 5c inserted inside the tip.

A hoisting cylinder 7 composed of a hydraulic cylinder is installed under the telescopic boom 5, and the base end side boom 5 a is driven around the pivot 6 by the telescopic movement of the hoisting cylinder 7 to expand and contract the boom 5. The undulations can be adjusted.

Further, inside the telescopic boom 5, an telescopic cylinder composed of a hydraulic cylinder for telescopically driving the intermediate boom 5b and the tip side boom 5c of the telescopic boom 5 with respect to the base side boom 5a. 8 are arranged.

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

The crane 3 is adapted to be driven by hydraulic power from the 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 oscillating cylinder 7 and the telescopic cylinder 8 as well as the slewing hydraulic motor 22 of the swivel base 4, Hydraulic actuators (driving means) such as a main winch hydraulic motor 23 and a sub winch hydraulic motor 24 are connected in parallel with each other via switching valves 7a, 8a, 22a, 23a, 24a.

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

In the switching valves 7a and 8a of the undulating cylinder 7 and the telescopic cylinder 8, respectively, solenoids 7b, 7c, 8b and 8c (see FIG. 1) that enable electrical adjustment of their opening areas are provided. Is provided as the regulation means of the present application, and 7b controls and controls the speed of the raising and lowering motion of the extension / contraction boom 5, 7c is the fall motion, 8b is the extension motion, and 8c is the contraction motion speed. It controls and regulates.

To these solenoids 7b, 7c, 8b, 8c, a control device 31 corresponding to the arithmetic unit in the present invention is connected.

A boom length detector 33 for detecting the extension / contraction length of the telescopic boom 5 and a boom angle detector 34 for detecting the ground angle of the telescopic boom 5 are connected to the control device 31. The signal from the detector is input, and the working radius limit value setting device 35 is connected.

The working radius limit value setter 35 of this embodiment includes an outer limit value setter 36 for setting and canceling an outer limit radius (R _setu ) and an inner limit radius (R _setl ) for setting and canceling. And an inner limit value setting device 37 for performing.

In the control device 31, limit value calculating means 41a, 41b, 41c, 41d and discriminating means 42a, 42b, 42c, 42d are provided corresponding to the four solenoids 7b, 7c, 8b, 8c, respectively. Control signal output means 43a, 43b, 43c, 43d are installed.

The limit value calculating means 41a and 41b are for calculating the limit undulation angle θ ₀ from the work radius limit value set by the work radius limit value setter 35 and the signal of the boom length detector 33. The limit value setting means 41c and 41d calculate the limit boom length L ₀ from the work radius limit value set by the work radius limit value setter 35 and the signal from the boom angle detector 34. The outer limit radius R _setu of the outer limit value setting unit 36 is used as the limit value of the working radius in the limit value calculating units 41b and 41c, and the inner limit value setting unit 37 is used in the limit value calculating units 41a and 41d. The inner limit radius R _setl is used as the limit value of the working radius. The calculation formula will be described later.

The discriminating means 42b compares the undulation angle θ from the boom angle detector 34 with the θ ₀ , and determines the _value of the angle difference θ−θ ₀ between the current undulation angle θ and the θ _0. It is output. Similarly discriminating means 42a, it outputs the value of the angle difference theta ₀ - [theta] with derricking angle theta from the theta ₀ and the boom angle detector 34.

Further, the discriminating means 42d compares the boom length L from the boom length detector 33 with the L ₀ and outputs the value of the boom length difference L−L ₀ , and the discriminating means 42c. Similarly outputs the value of L ₀ -L.

As shown in FIG. 6 or FIG. 7, the control signal output means 43a, 43b, 43c, 43d have the values of the angle difference | θ-θ ₀ | or the value of the boom length difference | L-L ₀ | Based on the above, the relevant signal is read out from the regulation signal data stored in advance and the regulation signal is output.

The embodiment provided with 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 is started when the power of the control device 31 is turned on, and stopped when the power is turned off.

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

After that, in step 2, it is possible to set or cancel the inner limit radius R _setl in which the tip end of the telescopic boom 5 can move, and the inner limit radius R _{se tl} is set as necessary. Go to step 3.

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

In step 4, the extension / contraction distance (boom length difference) of the extension / contraction boom 5 from the current state of the extension / contraction boom 5 to the outer limit radius R _setu and the extension / contraction to the outer limit radius R _{se tu.} The undulation angle (angle difference) of the boom 5 is calculated.

Calculation of these boom length differences and angle differences is performed as follows (see FIG. 5).

That is, R _setu = L * cos (θ _setu −Δθ) + R _off holds. Note that R _off is an offset amount from the pivot center of the pivot 6 of the telescopic boom 5, and Δθ is a deflection correction angle of the telescopic boom 5.

If this is deformed, the undulation angle of the telescopic boom when the tip of the telescopic boom 5 reaches the outer limit radius R _setu by increasing the undulation angle while keeping the length of the telescopic boom 5 unchanged. ( _Inverse 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.

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

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

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

On the other hand, if NO is determined in step 3, since the outer limit radius R _setu is not set and no special deceleration is required, the valve opening is set to 100% and step 6 is performed. I will proceed.

In step 6, the adjustment is performed so that the opening areas of the switching valves 7 a and 8 a of the undulating cylinder 7 and the telescopic cylinder 8 become the valve opening amounts obtained in steps 4 and 5, respectively.

That is, when the angle difference and the boom length difference are substantially smaller than the deceleration start angle (a °) and the deceleration start distance (Am) stored in advance, the undulating cylinder 7 and the telescopic cylinder. The opening areas of the respective switching valves 7a, 8a of No. 8 are electrically adjusted so that the respective solenoids 7c, 8b are actuated so as to have the required valve opening degree, and the process proceeds to Step 7.

Therefore, in such a case, since a large deceleration occurs with the driving of the telescopic boom 5 to the outside, the telescopic boom 5 should be smoothly and smoothly stopped at the position of the outer limit radius R _setu. Will be able to.

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

[0062] In step 8, the expansion and contraction of expansion distance of the telescopic boom 5 to the inside of the limit radius R _SETL from the state of the telescopic boom 5 the current and (boom length difference) to the limit radius R _{se tl} of the inner The undulation angle (angle difference) of the boom 5 is calculated, and the valve opening corresponding to this is obtained.

Since the processing in step 8 is almost the same as that in step 4, the description thereof will be omitted.

Further, step 9 has the same purpose as step 5, and after step 8 or step 9, the solenoids 7b and 8c are operated in step 10 to adjust the valve opening. Similar to step 6.

As a result, when the inner limit radius R _setl is set and the tip of the telescopic boom is closer than the deceleration start angle (a °) or the deceleration start distance (Am), the outside As in the case of the limit radius R _setu of 1, the telescopic boom 5 can be smoothly and smoothly stopped at the position of the inner limit radius R _setl .

After step 10, the process returns to step 1 and the above process is repeated.

The function can be released by performing a required release process in step 1 or step 2.

By controlling the amount of oil to the hoisting cylinder 7 and the telescopic cylinder 8 in this manner, the telescopic boom 5 of the mobile crane 1 of this embodiment can be used to lift the telescopic boom 5 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 ° ) Or deceleration start distance (Am), the operation can be reliably regulated from the stage before.

Therefore, the hoisting drive regulation of the telescopic boom from the telescopic boom regulation start position to the stop position does not differ depending on the telescopic boom state, and can be made constant at all times, and control can be performed in an appropriate and sufficient deceleration region. it can.

In particular, in limiting the working radius of a crane vehicle, if the movement of the boom is suddenly stopped at the position of the limit radius R _set , the suspended load or the like suspended via the wire rope 11 may roll. , There is a risk that the suspended load will contact the obstacle beyond the limit radius R _set , but this invention controls the telescopic boom by controlling as described above, thus suppressing the occurrence of rolling of the suspended load etc. Has the advantage of being effective.

In the deceleration data of the embodiment described above, for example, when the telescopic boom 5 is driven up and down, the valve opening degree is made to depend only on the angular difference of the telescopic boom 5, as shown in FIG. However, in order to further improve the accuracy, the configuration shown in FIG. 9 or 10 may be used.

FIG. 9 shows a configuration in which the deceleration curve is changed according to the operating speed of the telescopic boom 5 when the telescopic boom 5 is controlled to move up and down.

That is, in FIG. 9, P indicates the valve opening data when the operating speed of the telescopic boom 5 is the maximum speed, and Q indicates the case of 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, the valve opening degree is changed until the angular difference reaches the position N of n regardless of whether or not the deceleration start angle a ° is exceeded. The valve opening is maintained as it is, and the valve opening is restricted from the position N according to the data curve P. This means that the deceleration start angle is changed according to the operation speed of the telescopic boom 5.

As a result, there is an advantage that the space area where the telescopic boom 5 can be freely operated can be expanded within the limit range of the limit work radius.

FIG. 10 shows a configuration in which the deceleration curve is changed depending on the extension / contraction state of the telescopic boom 5 in addition to the hoisting motion speed similar to FIG.

That is, FIG. 10 shows a case where 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. Have.

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

Therefore, when the data of FIG. 10 is used, the length of the telescopic boom 5 at that time is determined by the signal from the boom length detector 33, and the data curve portion is selected from the data curve portions accordingly. The valve opening is determined according to the curve selected appropriately.

Such data curve portions are not limited to the three types of P ₁ , P ₂ , and P ₃ described above, and more types may be prepared to determine the valve opening.

Then, when the operation speed of the telescopic boom 5 is an intermediate speed, the valve opening curve Q is followed in the same manner as described above, but depending on the length of the telescopic boom at that time, the valve opening degree is substantially changed. The position at which the restriction is started is different from n ₃ , n ₂ , and n _{1 in} terms of the angular difference, and the distance from the deceleration start position to the limit work radius is changed, which is more reasonable and smooth. It can be stopped.

In the embodiment described above, both the hoisting drive and the telescopic drive of the telescopic boom 5 are controlled, but the present invention may be implemented by only hoisting drive.

[0083]

[Effect of the device]

 As described above, according to the first aspect of the present invention, the working radius limit value signal from the working radius limit value setting device is calculated by the computing unit together with the length signal from the length detector. When the hoisting angle signal is replaced by a limit value and the hoisting angle signal approaches the boom hoisting angle limit value by more than a predetermined value, a signal is output to the restricting means to restrict the hoisting and driving means of the telescopic boom.

Therefore, the control is performed not to the working radius but directly to the hoisting angle of the telescopic boom. The restriction start position of the hoisting drive of the telescopic boom is the hoisting drive stop position of the telescopic boom. Since it is always determined and regulated by the hoisting angle in front of the telescopic boom, the hoisting drive regulation of the telescopic boom from the start position to the stop position of the telescopic boom does not differ depending on the telescopic boom state, and it is always a constant angle. can do .

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

[Brief description of drawings]

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

FIG. 2 is an overall schematic diagram of a mobile crane.

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 is relationship data between an angle difference and a valve opening.

FIG. 7 is a relationship data between a boom length difference and a valve opening.

FIG. 8 is an operation explanatory view of the telescopic boom by the limiting device of the embodiment.

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

FIG. 10 is another relationship data between the angle difference and the valve opening.

FIG. 11 is a diagram for explaining the operation of the telescopic boom in the conventional limiting device.

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

[Explanation of symbols]

 1 Crane Vehicle (Working Machine) 2 Vehicle 5 Telescopic Boom 7 Elevating Cylinder (Drive Means) 7a Switching Valve 7b, 7c Solenoid (Regulating Means) 8 Telescopic Cylinder (Drive Means) 8a Switching Valve 8b, 8c Solenoid (Regulating Means) 22 Swing Hydraulic motor 31 Control device (arithmetic unit) 33 Boom length detector (length detector) 34 Boom angle detector (elevation angle detector) 35 Working radius limit value setter

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[Procedure amendment]

[Submission date] April 10, 1992

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Claims (1)

[Scope of utility model registration request] 1. A working machine having a boom equipped with a drive unit for swinging and hoisting freely on a vehicle, and driving means for turning, hoisting and telescopically driving the hoisting boom, the hoisting angle of the telescopic boom being detected. Set the limit value of the working radius where the tip of the telescopic boom can be located, the undulation angle detector that outputs the undulation angle signal, the length detector that detects the boom length of the telescopic boom and outputs the length signal. , Having a working radius limit value setting device for outputting the working radius limit value signal, and receiving the signals from the respective detectors and setting devices to perform calculation,
Working radius of a working machine equipped with a computing unit that outputs a regulation signal so that the working radius where the telescopic boom tip is located does not exceed the working radius limit value, and a regulation unit that receives the regulation signal and regulates the drive unit In the limiting device, the restricting means is configured to restrict the undulating drive of the telescopic boom in response to the restricting signal, and the computing unit calculates the hoisting angle of the boom from the length signal and the working radius limit value signal. A working radius limiting device for a working machine having a boom, wherein a limit value is obtained and the regulation signal is output when the hoisting angle signal of the boom approaches the hoisting angle signal by a predetermined value or more.