Abstract:
A working vehicle is configured so that interference does not occur even if an attachment is exchanged and so that a reduction in work efficiency caused by the exchange of an attachment is minimized. A backhoe comprises: a working machine body; a working device which is connected to the working machine body, has joints, and allows an attachment to be removably mounted to the front end of the working device; and a control device in which stop positions are set, the stop positions being those at which the working device is stopped in order to avoid the interference of the working device. The control device has connected thereto: a position sensor which detects the position of the working device; an input means by which the stop positions are set in advance and by which the stop positions are adjusted independently of each other; and a screen operation section which allows selection among the stop positions.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This is the U.S. national stage of application No. PCT/JP2014/051390, filed on Jan. 23, 2014. Priority under 35 U.S.C. §119(a) and 35 U.S.C. §365(b) is claimed from Japanese Application No. 2013-017347, filed Jan. 31, 2013, the disclosure of which is also incorporated herein by reference. 
     TECHNICAL FIELD 
     The present invention relates to a working vehicle. In more detail, the present invention relates to an art of restricting a movable range of a working device. 
     BACKGROUND ART 
     Conventionally, a working vehicle such as a backhoe is configured so that an operation lever device is operated so as to make a working device provided in the working vehicle perform predetermined action and work. With respect to various operations of the operation lever device of the working vehicle, various attachments such as a bucket attached to a tip of the working device may interfere a revolving device or an object within a movable range. Accordingly, the working vehicle is known in which the movable range of the working device can be restricted to an optional range with respect to the various operations of the operation lever device. For example, see the Patent Literature 1. 
     For example, as shown in the Patent Literature 1, when the bucket is exchanged with a breaker, an arm is moved actually to a raking side so as to realize a state in which the breaker is quite close to a boom cylinder. When a memorizing command is ordered at this state, henceforth, the arm raking movement is stopped at a state separated from the quite close state to an arm extension side for a set angle, and the arm is not moved to a boom side. 
     However, concerning the working vehicle with the above configuration, complicated work is required for treating various attachments, whereby working efficiency may be reduced. 
     PRIOR ART REFERENCE 
     Patent Literature 
     
         
         Patent Literature 1: the Japanese Patent Laid Open Gazette Hei. 10-8490 
       
    
     DISCLOSURE OF INVENTION 
     Problems to be Solved by the Invention 
     The present invention is provided for solving the problems, and the purpose of the present invention is to provide a working device which can avoid interference even if a plurality of attachments are exchanged and relive reduction of working efficiency following exchange of the attachments. 
     Means for Solving the Problems 
     The problems to be solved by the present invention have been described above, and subsequently, the means of solving the problems will be described below. 
     According to the present invention, a working vehicle includes a working machine body, a working machine which is connected to the working machine body and has a plurality of joints and whose tip is connected detachably to an attachment, and a control device in which a stop position is set so as to stop the working device for avoiding interference of the working device. The control device is connected to a detection means which detects a position of the working device, an input means which sets previously a plurality of stop positions and adjusts independently the plurality of the stop positions, and a selection means which selects the plurality of the stop positions. 
     According to the present invention, concerning each of the plurality of the stop positions, an adjustment range which does not include the other stop positions is determined. 
     According to the present invention, the input means adjusts the stop positions by inputting numerical values. 
     According to the present invention, the input means adjusts the stop positions by direct teaching which makes the working device move to the stop positions and memorizes the positions. 
     According to the present invention, at least a part of the input means is detachably attached to the control device. 
     According to the present invention, the detection means detects an angle of the joint of the working device. 
     Effect of the Invention 
     The present invention configured as the above brings the following effects. 
     According to the present invention, the plurality of the stop positions can be adjusted independently, and the adjusted stop position does not affect the other stop positions. Accordingly, when the attachment is exchanged, readjustment is not required and the interference can be avoided, whereby reduction of working efficiency can be relieved. 
     According to the present invention, the value of the adjustment range of each of the stop positions does not includes the stop positions except for the stop position to be adjusted so that the relation among the values of the stop positions in the selection means is not reversed, whereby confusion at the time of selecting the values of the plurality of the stop positions is prevented. 
     According to the present invention, the stop positions can be adjusted without moving the working device, whereby the adjustment work can be performed easily. 
     According to the present invention, at the time of adjusting the stop positions, the stop positions can be checked visually, whereby the adjustment work can be performed easily. Furthermore, when the adjustment of the stop positions with the direct teaching gets out of the adjustment range, the stop positions are not adjusted so that the relation between the values of the stop positions in the selection means is not reversed, whereby confusion at the time of selecting the values of the plurality of the stop positions is prevented. 
     According to the present invention, since at least the part of the input means is detachably attached to the control device, the stop positions cannot be adjusted carelessly, whereby the working device can be operated safely. 
     According to the present invention, by only detecting the angle of the working device, the stop positions can be judged, whereby the control configuration can be made simple. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a side view of an entire configuration of a working vehicle according to an embodiment of the present invention. 
         FIG. 2  is a side view of stop positions of a working device. 
         FIG. 3  is a block diagram of stop control. 
         FIG. 4A  is a drawing of an adjustment selection screen displayed in a display part. 
         FIG. 4B  is a drawing of an adjustment screen displayed in the display part. 
         FIG. 5  is a flow chart of adjustment of the stop positions in an input means. 
         FIG. 6  is a front view of the display part of the working vehicle. 
         FIG. 7  is a drawing of a movable range limitation screen displayed in a display device. 
         FIG. 8  is a flow chart of selection of the stop positions in a control device. 
         FIG. 9  is a drawing of a restriction position mode transition screen displayed in the display device. 
         FIG. 10  is a drawing of an excavation mode screen displayed in the display device. 
         FIG. 11  is a drawing of a restriction position SET mode screen displayed in the display device. 
         FIG. 12  is a flow chart of adjustment of the stop positions in the input means according to another embodiment. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Firstly, a backhoe  1  which is a working vehicle according to an embodiment of the present invention is described referring to  FIGS. 1 to 3 . Though this embodiment is explained while the backhoe  1  is regarded as the embodiment of the working vehicle, the working vehicle is not limited thereto and may alternatively be another agricultural vehicle, construction vehicle, industrial vehicle or the like. For make the explanation easy, a direction of an arrow F is regarded as a front direction of the backhoe  1 , and longitudinal and lateral directions at the time of riding on the backhoe  1  and looking at the forward are regarded as longitudinal and lateral directions of the backhoe  1 . 
     The backhoe  1  mainly has a traveling device  2 , a revolving device  3  and a working device  4 . 
     The traveling device  2  mainly has a pair of left and right crawlers  5 . By driving the crawlers  5  at left and right sides of a vehicle body, the traveling device  2  can make the backhoe  1  travel longitudinally and turn. 
     The revolving device  3  is a working machine body and mainly has a revolving base  6 , an operation part  8  and an engine  9 . The revolving base  6  is a main structure of the revolving device  3 . The revolving base  6  is arranged above the traveling device  2  and supported rotatably by the traveling device  2 . In the revolving device  3 , by driving a revolving motor (not shown), the revolving base  6  can be revolved with respect to the traveling device  2 . On the revolving base  6 , the operation part  8  having various operation instruments and the engine  9  which is a power source are arranged. 
     The working device  4  mainly has a boom  10 , an arm  11 , a bucket  12  which is a kind of an attachment, a boom cylinder  13 , an arm cylinder  14 , and an attachment cylinder  15 . 
     One of ends of the boom  10  is supported rotatably on a front part of the revolving base  6  by a boom fulcrum  10   a  which is a joint. The boom  10  is rotated around the boom fulcrum  10   a  by the boom cylinder  13  which is driven telescopically. In more detail, when the boom cylinder  13  is extended, the boom  10  is rotated upward, and when the boom cylinder  13  is contracted, the boom  10  is rotated downward. 
     One of ends of the arm  11  is supported rotatably on the other end of the boom  10  by an arm fulcrum  11   a  which is a joint. The arm  11  is rotated around the arm fulcrum  11   a  at the one of ends by the arm cylinder  14  which is driven telescopically. In more detail, when the arm cylinder  14  is extended, the arm  11  is rotated downward (so as to make the other end of the arm  11  close to the boom  10 ), and when the arm cylinder  14  is contracted, the arm  11  is rotated upward (so as to separate the other end of the arm  11  from the boom  10 ). In a support part of the arm  11 , a position sensor  11   b  detecting a rotation position of the arm  11  is provided. Though a detection means is the position sensor  11   b  and detects the rotation position of the arm  11  in this embodiment, the detection means is not limited thereto and may alternatively detect an amount of extension and contraction of the arm cylinder  14 . Though the position sensor  11   b  which is the detection means is provided only in the arm fulcrum  11   a , the arrangement is not limited thereto and position sensors (angle detection sensors) may alternatively be arranged in the boom fulcrum  10   a  and an attachment fulcrum  12   a  so as to grasp a more detailed position of the attachment. 
     One of ends of the bucket  12  which is the kind of the attachment is supported rotatably on the other end of the arm  11  by the attachment fulcrum  12   a  which is a joint. The bucket  12  is rotated around the attachment fulcrum  12   a  at the one of ends by the attachment cylinder  15  which is driven telescopically. In more detail, when the attachment cylinder  15  is extended, the bucket  12  is rotated downward (so as to make the other end of the bucket  12  close to the arm  11 ), and when the attachment cylinder  15  is contracted, the bucket  12  is rotated upward (so as to separate the other end of the bucket  12  from the arm  11 ). 
     As the above, in the working device  4 , an articulated structure which digs soil with the bucket  12  is configured. Though the working device  4  which has the bucket  12  and performs digging work is provided in the backhoe  1  according to this embodiment, the working device is not limited thereto and a working device which has a hydraulic breaker and performs crush work may alternatively be provided. 
     In the operation part  8 , an operation seat  20  is provided at a substantially center, and a right operation lever device  21  and a left operation lever device  22  are arranged at right and left sides of the operation seat  20 . With the operation lever devices, the revolving motor, the boom cylinder  13 , the arm cylinder  14  and the attachment cylinder  15  can be operated. A display device  23  is provided at one of the lateral sides (in this embodiment, the right side) of the operation seat  20 . The display device  23  is arranged so as to make a display part thereof opposite to an operator sitting on the operation seat  20 . 
     Next, stop positions SA, SB and SC which are set for avoiding interference of the working device  4  is explained. 
     The stop positions SA, SB and SC of this embodiment are defined by angles between an upper arm part  10   b  of the boom  10  and the arm  11  in the state in which the boom fulcrum  10   a  and the attachment fulcrum  12   a  are connected with a horizontal line H 1  as shown in  FIGS. 1 and 2 . Namely, at the stop positions SA, SB and SC, when the arm  11  moving toward a raking side reaches stop angles A, B and C with respect to the boom  10 , the movement of the arm  11  is stopped. With respect to the stop angles, in the state shown in  FIG. 2 , a counterclockwise direction is regarded as a positive direction and a clockwise direction is regarded as a negative direction. The plurality of the stop angles A, B and C are set so as to correspond to various attachments. In this embodiment, the stop angles corresponding to the stop positions SA, SB and SC are set so that one of the stop positions SA, SB and SC can be selected suitably, whereby the interference of the working device  4  is prevented. 
     In an order closer to the revolving device  3 , the stop positions SA, SB and SC are referred to as the first stop position SA at the raking side, the second stop position SB at a central side, and the third stop position SC at an extending side. The first stop angle A is a set value corresponding to the first stop position SA, the second stop angle B is a set value corresponding to the second stop position SB, and the third stop angle C is a set value corresponding to the third stop position SC. A minimum stop angle X corresponding to a position SX at which the arm  11  is the most close to the boom  10  and a maximum stop angle Y corresponding to a position SY at which the arm  11  is separated maximally from the boom  10  are set previously. 
     The stop positions SA, SB and SC can be adjusted respectively independently. An adjustment range of each of the stop positions SA, SB and SC does not include the values of the other of the stop positions SA, SB and SC. Namely, a range whose setting can be adjusted is set previously with respect to each of the stop positions SA, SB and SC, and the adjustable range of a new first stop angle A 1  at the first stop position SA is X≦A 1 &lt;X 1 . The adjustable range of a new second stop angle B 1  at the second stop position SB is X 1 ≦B 1 ≦X 2 . The adjustable range of a new third stop angle C 1  at the third stop position SC is X 2 &lt;C 1 ≦Y. The stop angles used for the adjustable range has a relation X&lt;X 1 &lt;X 2 &lt;Y. 
     Next, a configuration of stop control is explained referring to a block diagram of the configuration of stop control shown in  FIG. 3  and drawings of an adjustment selection screen  53  and an adjustment screen  57  displayed in a display part  52  shown in  FIG. 4 . 
     A control device  28  controls a LED display part  25  and a liquid crystal display part  26  by operating a screen operation part  27 . The control device  28  is configured in a frame body  24  (see  FIG. 6 ) close to the LED display part  25  and the liquid crystal display part  26  or integrally with an ECU  16 . 
     The ECU  16  controls the engine  9 , a hydraulic pump (not shown) and the like. Various programs are stored in the ECU  16  so as to control the engine  9 , the hydraulic pump and the like. The ECU  16  can perform predetermined calculations according to the programs and store results of the calculations and the like. Substantially, the ECU  16  may be configured by connecting a CPU, a ROM, a RAM, a HDD and the like with a bus, or may alternatively be a one-chip LSI or the like. 
     The ECU  16  is connected to various sensors and a fuel injection device (not shown) provided in the engine  9  and can control the engine  9 . The ECU  16  is connected to the control device  28  of the display device  23 , and can transmit signals concerning warning, error information, fuel residual quantity, cooling water temperature and the like to the control device  28  and obtain input signals inputted to the control device  28 . 
     The control device  28  is connected to the position sensor  11   b  which is the detection means, an input means  51  in which the stop angles A, B and C corresponding to the plurality of (three) the stop positions SA, SB and SC are set previously and which the stop angles A, B and C are adjusted independently, and the screen operation part  27  which is a selection means selecting the plurality of the stop positions SA, SB and SC. 
     The input means  51  is a personal computer or the like provided separately from the display device  23  and detachably attached to the control device  28  in the display device  23 . By operating the input means  51 , the stop positions SA, SB and SC can be adjusted. Though the input means  51  is provided separately in this embodiment, the input means is not limited thereto and may alternatively be inserted into the display device  23  and adjust the stop positions SA, SB and SC. 
     At the time of adjusting the stop positions SA, SB and SC, the adjustment selection screen  53  shown in  FIG. 4A  is displayed in the display part  52  of the input means  51 . In the display screen, an item  54  of an arm restriction adjustment angle (SC), an item  55  of an arm restriction adjustment angle (SB), an item  56  of an arm restriction adjustment angle (SA) are displayed. 
     An operator selects the item to be adjusted from the items  54 ,  55  and  56  so that the adjustment screen  57  is displayed in the display part  52 . The adjustment screen  57  shown in  FIG. 4B  is displayed when the item  56  of the arm restriction adjustment angle (SA) is selected, and the first stop angle A of the first stop position SA is adjusted via the adjustment screen  57 . In the adjustment screen  57 , an actual value before adjustment (the first stop angle A) is displayed in an item  61 , an adjustable maximum value X 1  (strictly, less than X 1 ) is displayed in an item  62 , a new set value (the first stop angle A 1  to be adjusted) is displayed in an item  63 , and an adjustable minimum value X is displayed in an item  64 . A unit of the values displayed in the items  61 ,  62 ,  63  and  64  is an angle. 
     At the right of the item  63  of the new set value, an adjustment button group  65  is provided. With the adjustment button group  65 , the new first stop angle A 1  displayed in the item  63  of the new set value can be adjusted. In the adjustment button group  65 , hundredth order, tenth order and first order are provided, and a button for increasing the value and a button for reducing the value are provided in each of the orders. Below the adjustment button group  65 , a slide bar  66  is provided, and by sliding the slide bar  66 , the new first stop angle A 1  of the item  63  of the new set value can be adjusted. In a lower part of the adjustment screen  57 , a set button  67  for storing the adjusted new first stop angle A 1  of the item  63  of the new set value and a cancel button  68  for stopping the adjustment on the way are provided. 
     Next, control steps of the input means  51  adjusting the stop angles A, B and C of the stop positions SA, SB and SC are explained referring to  FIGS. 3 to 5 . 
     Firstly, as shown in  FIG. 3 , the input means  51  is connected to the control device  28  at the side of the backhoe  1  and started so as to enable the adjustment of the stop angles A, B and C corresponding to the stop positions SA, SB and SC. 
     Namely, at a step S 10  of a flow chart of the adjustment of the stop positions SA, SB and SC in the input means  51  shown in  FIG. 5 , the input means  51  obtains information of the stop positions SA, SB and SC which has been set actually from the control device  28  of the backhoe  1 , and displays the adjustment selection screen  53  (see  FIG. 4 ). When an operator selects one of the three items  54 ,  55  and  56  of the stop positions displayed in the adjustment selection screen  53 , the control is shifted from the step S 10  to a step S 11 . 
     At the step S 11 , the input means  51  judges whether the first stop positions SA (item  56 ) is selected or not. 
     As a result, when the first stop position SA is judged to be selected, the input means  51  shifts from the step S 11  to a step S 12 . 
     On the other hand, when the first stop position SA is judged not to be selected, that is, when the second stop position SB or the third stop position SC is judged to be selected, the input means  51  shifts from the step S 11  to a step S 21 . 
     At the step S 12 , the input means  51  displays the adjustment screen  57  shown in  FIG. 4B . At this time, the input means  51  displays the adjustable maximum value B and the adjustable minimum value X of the first stop position SA, the first stop angle A which is the actual set value, and the set value A 1  to be adjusted in the adjustment screen  57 . Then, by operating the adjustment button group  65  or the slide bar  66 , a user adjusts the first stop angle A to the new first stop angle A 1 . 
     At a step S 13 , the input means  51  judges whether the user pushes the set button  67  after adjusting the new first stop angle A 1  of the first stop position SA or not. 
     As a result, when the set button  67  is judged to be pushed, the input means  51  shifts from the step S 13  to a step S 14 . 
     On the other hand, when the set button  67  is judged not to be pushed, the input means  51  shifts from the step S 13  to the step S 12  again. 
     At the step S 14 , the input means  51  judges whether the adjusted first stop angle A 1  is within the adjustable range or not. Namely, the input means  51  judges whether “the stop angle X at which the arm  11  is the most close to the revolving device  3 ≦the adjusted first stop angle A 1 &lt;the stop angle X 1  set previously” or not. 
     As a result, when the adjusted first stop angle A 1  is judged to be within the adjustable range, the input means  51  shifts from the step S 14  to a step S 15 . 
     On the other hand, when the adjusted first stop angle A 1  is judged to be out of the adjustable range, the input means  51  shifts from the step S 14  to a step S 16 . At the step S 16 , it is displayed that the adjusted first stop angle A 1  cannot be adjusted (changed) (the error is displayed), and then the input means  51  shifts from the step S 16  to the step S 12 . 
     At the step S 15 , the input means  51  transmits the adjusted first stop angle A 1  as the new first stop angle A to a storage part  29  of the control device  28  of the backhoe  1  and finishes the control. 
     The transferred new first stop angle A 1  is updated in the storage part  29  of the control device  28  by finishing and restarting the backhoe  1 . 
     At the step S 11 , when the first stop position SA is judged not to be selected, that is, when the second stop position SB or the third stop position SC is judged to be selected, the input means  51  shifts to the step S 21  and judges whether the second stop position SB (item  55 ) is selected or not. 
     As a result, when the second stop position SB is judged to be selected, the input means  51  shifts from the step S 21  to a step S 22 . 
     On the other hand, when the second stop position SB is judged not to be selected, that is, when the third stop position SC is judged to be selected, the input means  51  shifts from the step S 21  to a step S 32 . 
     At the step S 22 , the input means  51  displays the adjustment screen  57  for the second stop position SB. 
     At this time, the input means  51  displays the second stop angle B which is the actual set value in the item  61  of the adjustment screen  57 , the adjustable maximum value X 2  of the second stop position SB in the item  62 , the set value to be adjusted (the second stop angle B 1 ) in the item  63 , and the adjustable minimum value X 1  of the second stop position SB in the item  64 . Then, by operating the adjustment button group  65  or the slide bar  66 , the user adjusts the second stop angle B to the new second stop angle B 1  (see the drawing of the first stop position SA shown in  FIG. 4B ). 
     At a step S 23 , the input means  51  judges whether the user pushes the set button  67  after adjusting the new second stop angle B 1  of the second stop position SB or not. 
     As a result, when the set button  67  is judged to be pushed, the input means  51  shifts from the step S 23  to a step S 24 . 
     On the other hand, when the set button  67  is judged not to be pushed, the input means  51  shifts from the step S 23  to the step S 22  again. 
     At the step S 24 , the input means  51  judges whether the adjusted second stop angle B 1  is within the adjustable range or not. Namely, the input means  51  judges whether “the stop angle X 1  set previously≦the adjusted second stop angle B 1 ≦the stop angle X 2  set previously” or not. At this time, the adjusted second stop angle B 1  is not less than the stop angle X 1  set previously and not more than the stop angle X 2  set previously so that the relation among the values of the stop positions SA, SB and SC is not reversed, whereby confusion caused by reversing the magnitude at the time of selecting the plurality of the values of the stop positions is prevented. 
     As a result, when the adjusted second stop angle B 1  is judged to be within the adjustable range, the input means  51  shifts from the step S 24  to a step S 25 . 
     On the other hand, when the adjusted second stop angle B 1  is judged to be out of the adjustable range, the input means  51  shifts from the step S 24  to a step S 26 . At the step S 26 , it is displayed that the adjusted second stop angle B 1  cannot be adjusted (changed) (the error is displayed), and then the input means  51  shifts from the step S 26  to the step S 22  again. 
     At the step S 25 , the input means  51  transmits the adjusted second stop angle B 1  as the new second stop angle B to the storage part  29  of the control device  28  of the backhoe  1  and finishes the control. 
     On the other hand, when the control is shifted from the step S 21  to the step S 32 , the input means  51  displays the adjustment screen  57  for the third stop position SC. 
     At this time, the input means  51  displays the third stop angle C which is the actual set value in the item  61  of the adjustment screen  57 , the adjustable maximum value Y of the third stop position SC in the item  62 , the set value to be adjusted (the third stop angle C 1 ) in the item  63 , and the adjustable minimum value X 2  of the third stop position SC in the item  64 . Then, by operating the adjustment button group  65  or the slide bar  66 , the user adjusts the third stop angle C to the new third stop angle C 1  (see the drawing of the first stop position SA shown in  FIG. 4B ). 
     At a step S 33 , the input means  51  judges whether the user pushes the set button  67  after adjusting the new third stop angle C 1  of the third stop position SC or not. 
     As a result, when the set button  67  is judged to be pushed, the input means  51  shifts from the step S 33  to a step S 34 . 
     On the other hand, when the set button  67  is judged not to be pushed, the input means  51  shifts from the step S 33  to the step S 32  again. 
     At the step S 34 , the input means  51  judges whether the adjusted third stop angle C 1  is within the adjustable range or not. Namely, the input means  51  judges whether “the stop angle X 2  set previously≦the adjusted third stop angle C 1 ≦the stop angle Y at which the arm  11  is the most separated from the boom  10 ” or not. At this time, the adjusted third stop angle C 1  is not less than the stop angle X 2  set previously so that the relation between the values of the stop positions SB and SC is not reversed, whereby confusion caused by reversing the magnitude at the time of selecting the plurality of the values of the stop positions is prevented. 
     As a result, when the adjusted third stop angle C 1  is judged to be within the adjustable range, the input means  51  shifts from the step S 34  to a step S 35 . 
     On the other hand, when the adjusted third stop angle C 1  is judged to be out of the adjustable range, the input means  51  shifts from the step S 34  to a step S 36 . At the step S 36 , it is displayed that the adjusted third stop angle C 1  cannot be adjusted (changed) (the error is displayed), and then the input means  51  shifts from the step S 36  to the step S 32  again. 
     At the step S 35 , the input means  51  transmits the adjusted third stop angle C 1  as the new third stop angle C to the storage part  29  of the control device  28  of the backhoe  1  and finishes the control. 
     An application method of the adjusted stop positions SA, SB and SC at the side of the backhoe  1  is explained. 
     Firstly, a configuration of the display device  23  which is an operation instrument for applying the stop positions SA, SB and SC is explained concretely. 
     As shown in  FIGS. 3 and 6 , the display device  23  has the frame body  24 , the LED display part  25 , the liquid crystal display part  26 , the screen operation part  27 , and the control device  28 . 
     The frame body  24  has an L-like box shape when viewed in side including a longer side and a shorter side. The frame body  24  is arranged at the right of the operation seat  20  so as to make a side surface of the shorter side opposite to the operation seat  20  (see  FIG. 1 ). 
     The LED display part  25  is provided above the side surface of the shorter side of the frame body  24 . In the LED display part  25 , a plurality of figures showing an operation state of the backhoe  1  and existence of warning are displayed, and an LED is arranged in each of the figures. In the LED display part  25 , only the certain figure is lightened up at a predetermined condition by lighting of the corresponding LED. Accordingly, the LED display part  25  can transmit information to an operator. Though the LED display part  25  performs the display by lighting up the LED in this embodiment, the display is not limited thereto and any light source whose lighting can be controlled may alternatively be used. 
     The liquid crystal display part  26  is provided in the side surface of the shorter side of the frame body  24  below the LED display part  25 . The liquid crystal display part  26  includes a liquid crystal screen displaying information. In the liquid crystal display part  26 , by operating the screen operation part  27  discussed below, the liquid crystal screen is switched to a screen suitable for each of work mode so as to check the operation state of the backhoe  1 . Accordingly, the liquid crystal display part  26  can transmit information to an operator. Though the liquid crystal display part  26  is displayed by the liquid crystal screen in this embodiment, the display is not limited thereto and any member which can display a plurality of information may alternatively be used. 
     The screen operation part  27  is arranged in the side surface of the shorter side of the frame body  24  below the liquid crystal display part  26 . The screen operation part  27  has a menu button and a F 1  button, a F 2  button, a F 3  button and a F 4  button which are a plurality of operation button. In the screen operation part  27 , by operating the menu button, the F 1  button, the F 2  button, the F 3  button and the F 4  button, the information displayed in the liquid crystal display part  26  can be selected. 
     The control device  28  controls the LED display part  25  and the liquid crystal display part  26 . The control device  28  is arranged inside the frame body  24  close to the LED display part  25  and the liquid crystal display part  26  or configured integrally with the ECU  16 . 
     Next, a control mode of applying the stop positions SA, SB and SC in the control device  28  of the display device  23  configured as the above is explained concretely. 
     In an excavation mode screen  31  shown in  FIG. 6 , by selecting the menu button (item) of the screen operation part  27  and performing suitable selection, a movable range limitation screen  33  shown in  FIG. 7  is displayed. 
     Namely, in a control flow shown in  FIG. 8 , the control device  28  shifts to a step S 101  and displays the movable range limitation screen  33 , and obtains the stop position chosen last time (one of SA, SB and SC) and the newest stop angles A, B and C corresponding to the stop positions SA, SB and SC from the storage part  29  and obtains an arm angle which is an actual angle of the arm  11  from the position sensor  11   b . When the stop position chosen last time does not exist, a default stop position is obtained. In the movable range limitation screen  33 , an operator (setting person) selects “ON”  33   a  or “SET”  33   b  and operates the F 4  button which is a determination button (see  FIG. 7 ). Then, the control device  28  shifts from the step S 101  to a step S 102 . 
     At the step S 102 , the control device  28  judges whether “ON”  33   a  is selected or not. 
     As a result, when “ON”  33   a  is judged to be selected, the control device  28  shifts from the step S 102  to a step S 103 . 
     On the other hand, when “ON”  33   a  is judged not to be selected, that is, when “SET”  33   b  is selected, the control device  28  shifts from the step S 102  to a step S 104 . 
     At the step S 103 , the control device  28  displays a restriction position mode transition screen  32  shown in  FIG. 9  for a predetermined time, and shifts from the step S 103  to a step S 105 . 
     At the step S 105 , the control device  28  displays the excavation mode screen  31  in which a stop position control ON mark  100  shown in  FIG. 10  is lighted up, finishes the control of selection of the stop positions SA, SB and SC, and executes control for avoiding interference of the working device  4 . 
     On the other hand, at the step S 104 , the control device  28  displays a restriction position SET mode screen  34  shown in  FIG. 11 . In the restriction position SET mode screen  34 , an actual position  34   d  of the arm obtained at the step S 102  and the stop position set last time are displayed. The operator moves a void triangle mark  34   e  with F 2  and F 3  of the screen operation part  27  and selects suitable stop position marks  34   a ,  34   b  and  34   c . When the operator operates F 4  so as to decide the selected one of the stop position marks  34   a ,  34   b  and  34   c , the control device  28  shifts from the step S 104  to the step S 103 . 
     The first stop position mark  34   a , the second stop position mark  34   b  and the third stop position mark  34   c  shown in  FIG. 11  correspond respectively to the first stop position SA, the second stop position SB and the third stop position SC 
     Actually, the input means  51  may alternatively be configured so that the working device  4  is moved to the desired stop position, the position (angle) is memorized and the stop position is adjusted. The adjustment of the stop angle with the adjustment button group  65  or the slide bar  66  shown in  FIG. 4  may alternatively be used together therewith. Namely, a user operates the operation levers  21  and  22  and adjusts visually the stop position of the arm  11 , and evaluates the stop position as the stop angle with the position sensor  11   b  so as to reflect it to the adjusted first stop angle A 1  displayed in the item  63  of the new set value. 
     According to the configuration, for example, at the first stop position SA, the arm  11  is moved actually and evaluated as the first stop angle A 1 , and at the step S 14  shown in  FIG. 5 , the input means  51  judges whether the first stop angle A 1  which is evaluated by moving actually the arm  11  is within the adjustable range or not. Namely, the input means  51  performs the judgement so as to realize a relation of the minimum stop angle X set previously≦the first stop angle A 1  which is evaluated by moving actually the arm  11 &lt;the stop angle X 1  set previously. 
     Next, the stop positions SA, SB and SC which are set for avoiding interference of the working device  4  in another embodiment are explained. 
     An explanation of the same configuration is omitted and explained with the same reference characters as the above embodiment. 
     The set angle of each of the stop positions SA, SB and SC of the above embodiment can be changed within the adjustment range set previously. Contrarily, in another embodiment shown below, the adjustment ranges corresponding to the stop positions SA, SB and SC are changed following change of setting of the stop positions SA, SB and SC. 
     Namely, the adjustable range of the new first stop angle A 1  at the first stop position SA is X≦A 1 &lt;B. The adjustable range of the new second stop angle B 1  at the second stop position SB is A&lt;B 1 &lt;C. The adjustable range of the new third stop angle C 1  at the third stop position SC is B&lt;C 1 ≦Y. When one of the stop angles A, B and C is adjusted and updated to corresponding one of the new stop angles A 1 , B 1  and C 1 , the one of the new stop angles A 1 , B 1  and C 1  is used as the standard of the adjustable range at the time of adjusting the other stop angles A, B and C. For example, when the first stop angle A is adjusted and updated to the new first stop angle A 1  and subsequently the second stop angle B is adjusted, the adjustable range of the new second stop angle B 1  is A 1 &lt;B 1 &lt;C. 
     Next, control steps of the input means  51  adjusting the stop angles A, B and C of the stop positions SA, SB and SC are explained referring to  FIGS. 3, 4 and 12 . 
     Firstly, as shown in  FIG. 3 , the input means  51  is connected to the control device  28  at the side of the backhoe  1  and started so as to enable the adjustment of the stop angles A, B and C corresponding to the stop positions SA, SB and SC. 
     Namely, at a step S 110  of a flow chart of the adjustment of the stop positions SA, SB and SC in the input means  51  shown in  FIG. 12 , the input means  51  obtains information of the stop positions SA, SB and SC which has been set actually from the control device  28  of the backhoe  1 , and displays the adjustment selection screen  53  (see  FIG. 4 ). When an operator selects one of the three items  54 ,  55  and  56  of the stop positions displayed in the adjustment selection screen  53 , the control is shifted from the step S 110  to a step S 111 . 
     At the step S 111 , the input means  51  judges whether the first stop position SA (item  56 ) is selected or not. 
     As a result, when the first stop position SA is judged to be selected, the input means  51  shifts from the step S 111  to a step S 112 . 
     On the other hand, when the first stop position SA is judged not to be selected, that is, when the second stop position SB or the third stop position SC is judged to be selected, the input means  51  shifts from the step S 111  to a step S 121 . 
     At the step S 112 , the input means  51  displays the adjustment screen  57  shown in  FIG. 4B . At this time, the input means  51  displays the adjustable maximum value B and the adjustable minimum value X of the first stop position SA, the first stop angle A which is the actual set value, and the set value A 1  to be adjusted in the adjustment screen  57 . Then, by operating the adjustment button group  65  or the slide bar  66 , a user adjusts the first stop angle A to the new first stop angle A 1 . 
     At a step S 113 , the input means  51  judges whether the user pushes the set button  67  after adjusting the new first stop angle A 1  of the first stop position SA or not. 
     As a result, when the set button  67  is judged to be pushed, the input means  51  shifts from the step S 113  to a step S 114 . 
     On the other hand, when the set button  67  is judged not to be pushed, the input means  51  shifts from the step S 113  to the step S 112  again. 
     At the step S 114 , the input means  51  judges whether the adjusted first stop angle A 1  is within the adjustable range or not. Namely, the input means  51  judges whether “the stop angle X at which the arm  11  is the most close to the revolving device  3 ≦the adjusted first stop angle A 1 &lt;the second stop angle B” or not. 
     As a result, when the adjusted first stop angle A 1  is judged to be within the adjustable range, the input means  51  shifts from the step S 114  to a step S 115 . 
     On the other hand, when the adjusted first stop angle A 1  is judged to be out of the adjustable range, the input means  51  shifts from the step S 114  to a step S 116 . At the step S 116 , it is displayed that the adjusted first stop angle A 1  cannot be adjusted (changed) (the error is displayed), and then the input means  51  shifts from the step S 116  to the step S 112 . 
     At the step S 115 , the input means  51  transmits the adjusted first stop angle A 1  as the new first stop angle A to a storage part  29  of the control device  28  and finishes the control. 
     The transferred new first stop angle A 1  is updated in the storage part  29  of the control device  28  by finishing and restarting the backhoe  1 . 
     Similarly, when the input means  51  judges that the second stop position SB is selected, at the step S 124 , the input means  51  judges whether the adjusted second stop angle B 1  is within the adjustable range or not. Namely, the input means  51  judges whether “the first stop angle A at the first stop position SA&lt;the adjusted second stop angle B 1 &lt;the third stop angle C at the third stop position SC” or not. At this time, the adjusted second stop angle B 1  is not less than the first stop angle A and not more than the third stop angle C so that the relation among the values of the stop positions SA, SB and SC is not reversed, whereby confusion caused by reversing the magnitude at the time of selecting the plurality of the values of the stop positions is prevented. 
     As a result, when the adjusted second stop angle B 1  is judged to be within the adjustable range, the input means  51  shifts from the step S 124  to a step S 125 . 
     On the other hand, when the adjusted second stop angle B 1  is judged to be out of the adjustable range, the input means  51  shifts from the step S 124  to a step S 126 . At the step S 126 , it is displayed that the adjusted second stop angle B 1  cannot be adjusted (changed) (the error is displayed), and then the input means  51  shifts from the step S 126  to the step S 122  again. 
     Similarly, when the input means  51  judges that the third stop position SC is selected, at the step S 134 , the input means  51  judges whether the adjusted third stop angle C 1  is within the adjustable range or not. Namely, the input means  51  judges whether “the second stop angle B at the second stop position SB&lt;the adjusted third stop angle C 1 ≦the stop angle Y at which the arm  11  is the most separated from the boom  10 ” or not. At this time, the adjusted third stop angle C 1  is not less than the second stop angle B so that the relation between the values of the stop positions SB and SC is not reversed, whereby confusion caused by reversing the magnitude at the time of selecting the plurality of the values of the stop positions is prevented. 
     As a result, when the adjusted third stop angle C 1  is judged to be within the adjustable range, the input means  51  shifts from the step S 134  to a step S 135 . 
     On the other hand, when the adjusted third stop angle C 1  is judged to be out of the adjustable range, the input means  51  shifts from the step S 134  to a step S 136 . At the step S 136 , it is displayed that the adjusted third stop angle C 1  cannot be adjusted (changed) (the error is displayed), and then the input means  51  shifts from the step S 136  to the step S 132  again. 
     As the above, the working vehicle (backhoe  1 ) has the revolving device  3  which is the working machine body, the working device  4  which is connected to the working machine body and has the boom fulcrum  10   a , the arm fulcrum  11   a  and the attachment fulcrum  12   a  which are the plurality of the joints, and whose tip is connected detachably to an attachment, and the control device  28  in which the stop positions SA, SB and SC are set so as to stop the working device  4  for avoiding interference of the working device  4 . The control device  28  is connected to the position sensor  11   b  which is the detection means detecting the position of the working device  4 , the input means  51  which sets previously the plurality of the stop positions SA, SB and SC and adjusts independently the plurality of the stop positions SA, SB and SC, and the screen operation part  27  which is the selection means selecting the plurality of the stop positions SA, SB and SC. 
     According to the configuration, the plurality of the stop positions SA, SB and SC can be adjusted independently, and the adjusted stop position does not affect the other stop positions. Accordingly, when the attachment  12  is exchanged, readjustment is not required and the interference with the attachment  12  can be avoided, whereby reduction of working efficiency can be relieved. 
     Concerning each of the plurality of the stop positions SA, SB and SC, the adjustment range which does not include the other stop positions SA, SB and SC is determined. 
     According to the configuration, the value of the adjustment range of each of the stop positions SA, SB and SC does not includes the stop positions except for the stop position to be adjusted so that the relation among the values of the stop positions SA, SB and SC in the screen operation part  27  which is the selection means is not reversed, whereby confusion at the time of selecting the plurality of the values A, B and C of the plurality of the stop positions SA, SB and SC is prevented. 
     The input means  51  adjusts the stop positions SA, SB and SC by inputting numerical values. 
     According to the configuration, the stop positions SA, SB and SC can be adjusted without moving the working device  4 , whereby the adjustment work can be performed easily. 
     The input means  51  adjusts the stop positions SA, SB and SC by direct teaching which makes the working device  4  move to the stop positions SA, SB and SC and memorizes the positions. 
     According to the configuration, at the time of adjusting the stop positions SA, SB and SC, the stop positions SA, SB and SC can be checked visually, whereby the adjustment work can be performed easily. Furthermore, when the adjustment of the stop positions SA, SB and SC with the direct teaching gets out of the adjustment range, the stop positions are not adjusted so that the relation between the values of the stop positions SA, SB and SC (the stop angles A, B and C) in the screen operation part  27  which is the selection means is not reversed, whereby confusion at the time of selecting the plurality of the values A, B and C of the plurality of the stop positions SA, SB and SC is prevented. 
     At least a part of the input means  51  is detachably attached to the control device  28 . 
     According to the configuration, the stop positions SA, SB and SC cannot be adjusted carelessly, whereby the working device  4  can be operated safely. 
     The position sensor  11   b  which is the detection means detects the angle of the arm fulcrum  11   a  which is the joint of the working device  4 . 
     According to the configuration, by only detecting the angle of the working device  4  (the stop angles A, B and C), the stop positions SA, SB and SC can be judged, whereby the control configuration can be made simple. 
     INDUSTRIAL APPLICABILITY 
     The present invention can be used for an art of restricting a movable range of a working device of a working vehicle.