Crawler frame and excavator
By installing a clearance section on the tracked vehicle frame, the wear problem caused by the collision between the track and the track beam is solved, thus extending the service life of the track.
Patent Information
- Application Number
- CN202520497495.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-20
- Publication Date
- 2026-01-20
- Estimated Expiration
- 2035-03-20
AI Technical Summary
Tracks are easily cut or worn when they collide with track beams, resulting in a reduced service life.
Design a tracked vehicle frame with drive components and guide wheels at both ends of the frame. The track is wrapped around the drive components and guide wheels. A clearance section is provided between the frame and the adjacent support rollers. The clearance section is used to accommodate the space when the track is lifted by an obstacle, so as to avoid direct collision between the track and the frame.
By incorporating clearance features, the likelihood of tracks being cut or worn is reduced, thus extending the track's service life.
Smart Images
Figure CN223812646U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of excavator accessories, and in particular to a crawler frame and an excavator. BACKGROUND
[0002] An excavator is a kind of construction and mining equipment, which is used in the fields of engineering construction and ore mining. Taking a crawler excavator as an example, the chassis of the crawler excavator includes a lower frame and a crawler belt, the lower frame includes a frame and a crawler beam arranged on both sides of the frame, the crawler belt is sleeved on the crawler beam, and a carrier wheel is further arranged on the crawler beam and abuts against the crawler beam to support the crawler belt.
[0003] In the prior art, when the excavator is running, the local position of the crawler belt is lifted up when encountering some protruding obstacles, so that the crawler belt collides or interferes with the crawler beam.
[0004] However, when the crawler belt collides with the crawler beam, the crawler belt is easily cut or worn by the crawler beam, thereby reducing the service life of the crawler belt. CONTENT OF THE INVENTION
[0005] The present application provides a crawler frame and an excavator to solve the problem that in the prior art, when the crawler belt collides with the crawler beam, the crawler belt is easily cut or worn by the crawler beam, thereby reducing the service life of the crawler belt.
[0006] In order to achieve the above-mentioned purpose, the technical scheme of the present application is as follows:
[0007] On the one hand, the present application provides a crawler frame, comprising:
[0008] a frame body, both ends of the frame body are provided with driving members and guide wheels, the crawler belt is wound on the guide wheels and the driving members, a plurality of carrier wheels are arranged between the frame body and the crawler belt, and an avoiding portion is arranged between the frame body and the adjacent carrier wheel.
[0009] In a possible implementation manner, the crawler frame in the present application embodiment, the bottom of the frame body has a notch recessed along the height direction of the frame body, the notch forms the avoiding portion, and the notch is arranged towards the crawler belt.
[0010] In a possible implementation manner, the crawler frame in the present application embodiment, the avoiding portion is arc-shaped.
[0011] In a possible implementation manner, the crawler frame in the present application embodiment, the avoiding portion includes a first avoiding section, a second avoiding section and a third avoiding section connected in sequence, the first avoiding section and the third avoiding section are oppositely arranged, and the distance between the first avoiding section and the third avoiding section increases in sequence from the direction towards the second avoiding section to the direction away from the second avoiding section.
[0012] In a possible implementation, the track frame in the embodiment of the present application has multiple avoidance portions and multiple supporting wheels, and the avoidance portions and the supporting wheels are arranged alternately along the length direction of the frame body.
[0013] In a possible implementation, the track frame in the embodiment of the present application has avoidance portions extending to the supporting wheels.
[0014] In a possible implementation, the track frame in the embodiment of the present application has avoidance portions with a height calculated according to the following formula:
[0015]
[0016] wherein H1 is the height of the avoidance portion, H is the height of the track being lifted by the obstacle, x is the displacement of the center of the obstacle and the center of the nearest supporting wheel along the length direction of the frame body, R is the radius of the supporting wheel, and is the angle between the tangent point corresponding to the tangent line of the side of the obstacle extending to the supporting wheel and the center of the supporting wheel in the vertical direction.
[0017] In a possible implementation, the track frame in the embodiment of the present application has a driving member including a connecting member and a driving wheel, the driving wheel is rotatably arranged on the connecting member, the driving wheel is used to wrap around the track, and the connecting member is arranged at the end of the frame body.
[0018] In a possible implementation, the track frame in the embodiment of the present application further includes a second connecting member arranged on the frame body and above the avoidance portion, and the second connecting member is used to connect with the central frame of the excavator.
[0019] On the other hand, the present application provides an excavator including a body and the track frame in any of the above embodiments arranged on the body.
[0020] The track frame and the excavator provided by the present application have the following beneficial effects. The track frame includes a frame body, driving members and guide wheels arranged at the two ends of the frame body, a track wrapped around the guide wheels and the driving members, multiple supporting wheels arranged between the frame body and the adjacent supporting wheels, and avoidance portions arranged between the frame body and the adjacent supporting wheels. When the track is lifted by the obstacle, the avoidance portions of the frame body can provide space to accommodate the track lifted by the obstacle, avoid the direct collision between the track and the frame body, reduce the possibility of the track being cut or worn, thereby protecting the track and prolonging the service life of the track. BRIEF DESCRIPTION OF DRAWINGS
[0021] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the present application.
[0022] Figure 1 Structure diagram of the track frame provided by the embodiment of the present application Figure 1;
[0023] Figure 2 Structure diagram of track frame provided by the embodiment of the present application Figure 2 ;
[0024] Figure 3 For Figure 2 Structure diagram of part A in the embodiment of the present application
[0025] Figure 4 For Figure 2 Force analysis diagram of the track being lifted in the embodiment of the present application
[0026] Explanation of reference signs:
[0027] 10 - track
[0028] 100 - frame body
[0029] 110 - avoiding part; 111 - first avoiding section; 112 - second avoiding section; 113 - third avoiding section
[0030] 120 - road wheel
[0031] 200 - driving member
[0032] 210 - connecting member
[0033] 220 - driving wheel
[0034] 300 - guide wheel
[0035] 400 - second connecting member
[0036] Through the above-mentioned drawings, the specific embodiments of the present application have been shown, and more detailed descriptions will be given hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of the present application by any means, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION
[0037] The exemplary embodiments will be described in detail herein with reference to the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.
[0038] It should be noted that in the description of the embodiments of the present application, the terms indicating the orientation or positional relationship of "upper", "lower", "inner", "outer" and the like are based on the direction or positional relationship shown in the drawings, and are only for the convenience of description, and do not indicate or imply that the device or component must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.
[0039] In addition, it should also be noted that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features, so the features with "first", "second" can be explicitly or implicitly include one or more features, and in the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited.
[0040] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection or can communicate with each other; it can be direct connection, or indirect connection through intermediate medium, it can be the communication or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0041] The excavator is a kind of construction and mining equipment, which is used in engineering construction and mining fields. Taking a crawler excavator as an example, the chassis of the crawler excavator includes a lower frame and a crawler belt, the lower frame includes a frame and a crawler beam arranged on both sides of the frame, the crawler belt is sleeved on the crawler beam, and a carrier roller is further arranged on the crawler beam and abuts against the crawler beam to support the crawler belt.
[0042] In the prior art, when the excavator is running, the local position of the crawler belt will be lifted up when encountering some protruding obstacles, so that the crawler belt collides or interferes with the crawler beam. However, when the crawler belt collides with the crawler beam, the crawler belt is cut or worn by the crawler beam, thereby reducing the service life of the crawler belt.
[0043] Therefore, the embodiments of the present application provide a crawler frame and an excavator, which include a frame body, driving members and guide wheels are arranged at both ends of the frame body, a crawler belt is wound on the guide wheels and the driving members, a plurality of carrier rollers are arranged between the crawler belt and the frame body, and a avoiding part is arranged between the frame body and the adjacent carrier roller. By arranging the avoiding part at the bottom of the frame body, when the crawler belt is lifted up by the obstacle, a space is provided to accommodate the crawler belt lifted up by the obstacle, so as to avoid the direct collision between the crawler belt and the frame body, reduce the possibility of cutting or wearing of the crawler belt, thereby protecting the crawler belt and prolonging the service life of the crawler belt.
[0044] The following will be described in combination withFigures 1 to 4 The present application will be described in detail with reference to specific embodiments. Figure 1 A schematic diagram of the tracked vehicle frame provided in the embodiments of this application. Figure 1 ; Figure 2 A schematic diagram of the tracked vehicle frame provided in the embodiments of this application. Figure 2 ; Figure 3 for Figure 2 A schematic diagram of the structure of part A. It should be noted that the embodiments in this application can be combined arbitrarily.
[0045] On one hand, this application provides a tracked vehicle frame, including: a frame 100, with a drive member 200 and a guide wheel 300 at both ends of the frame 100, a track 10 wrapped around the guide wheel 300 and the drive member 200, a plurality of support rollers 120 between the track 10 and the frame 100, and a clearance portion 110 between the frame 100 and the adjacent support rollers 120.
[0046] Specifically, the frame 100 has a clearance section 110 at its bottom, and the support roller 120 is located on one side of the clearance section 110. The drive unit 200 and the guide wheel 300 are respectively located at both ends of the frame 100. Both the drive unit 200 and the guide wheel 300 are used to wind around the track 10, the support roller 120 is used to abut against the track 10, and the clearance section 110 is used to accommodate the track 10 that has been lifted up by an obstacle.
[0047] For example, the frame 100 is a traveling beam, with a drive member 200 and a guide wheel 300 respectively provided at both ends of the traveling beam, and the track 10 wrapped around the drive member 200 and the guide wheel 300. For example, the drive member 200 is provided with a drive wheel 220, and the track 10 is wrapped around the drive wheel 220. The bottom of the traveling beam is provided with a support roller 120 and a clearance portion 110. The number of support rollers can be one or more, and the number of clearance portions 110 can be one or more, which is not limited in this embodiment. For example, there is one support roller 120 and two clearance portions 110, with the support roller 120 located between the two clearance portions 110.
[0048] The obstacle avoidance section 110 is disposed relative to the track 10, and the obstacle avoidance section 110 is used to accommodate the track 10 that has been lifted up by the obstacle. The height of the obstacle avoidance section 110 may be greater than or equal to the height of the track 10 lifted up by the obstacle.
[0049] The height of the clearance section 110 can be calculated using the following formula:
[0050]
[0051] Wherein, H is the height of the track 10 being lifted by the obstacle, x is the displacement of the center of the obstacle and the center of the nearest supporting wheel 120 along the length direction of the frame 100, R is the radius of the supporting wheel 120, and is the angle between the tangent point corresponding to the tangent line of the obstacle extending to the side of the supporting wheel 120 and the center of the supporting wheel 120 in the vertical direction.
[0052] The shape of the avoiding part 110 is not limited in the embodiment of the present application, and the avoiding part 110 is arc-shaped and concave in the height direction of the walking beam.
[0053] The track frame in the embodiment of the present application can accommodate the track 10 lifted by the obstacle to avoid the direct collision between the track 10 and the frame 100, reduce the possibility of cutting or wearing of the track 10, thereby protecting the track 10 and prolonging the service life of the track 10.
[0054] In a possible implementation, the bottom of the frame 100 of the track frame in the embodiment of the present application has a notch concave in the height direction of the frame 100, the notch forms the avoiding part 110, and the notch is arranged towards the track 10. Through the notch, the track 10 is prevented from touching the frame 100 when being lifted, and the track 10 is prevented from being cut by the frame 100.
[0055] The avoiding part 110 can ensure that the track 10 can be prevented from colliding with other rigid structures of the frame 100 in the protection area of the avoiding part 110 when the track 10 is lifted due to factors such as terrain undulation and operation impact.
[0056] In a possible implementation, the avoiding part 110 of the track frame in the embodiment of the present application is arc-shaped.
[0057] The avoiding part 110 is a U-shaped groove, and the opening direction of the avoiding part 110 is arranged towards the track 10. It can be understood that the avoiding part 110 is arc-shaped, and the projection of the arc part of the avoiding part 110 on the supporting wheel 120 intersects with the circular outer contour of the supporting wheel 120, so that the track 10 cannot touch the frame 100 in the process of being lifted, so as to prevent the track 10 from being cut by the frame 100.
[0058] In a possible implementation, the avoiding part 110 of the track frame in the embodiment of the present application includes a first avoiding section 111, a second avoiding section 112 and a third avoiding section 113 connected in sequence, the first avoiding section 111 and the third avoiding section 113 are oppositely arranged, and the distance between the first avoiding section 111 and the third avoiding section 113 increases in sequence from the direction towards the second avoiding section 112 to the direction away from the second avoiding section 112.
[0059] Exemplarily, the first avoiding section 111 and the third avoiding section 113 can be integrally arranged in an inclined manner or in a vertical manner, and the projections of the two can be straight lines or curves, which are not limited in the application. The first avoiding section 111 and the third avoiding section 113 are oppositely arranged, so that the avoiding portion 110 is symmetrical as a whole, and the load is uniform,
[0060] Moreover, one end of the first avoiding section 111 is smoothly connected with the second avoiding section 112, and the connection is processed with a transition round corner to reduce stress concentration. It should be noted that the inclined directions of the first avoiding section 111 and the third avoiding section 113 can guide the track 10 to provide a certain guiding effect when the track 10 is jacked up, so as to avoid rigid collision.
[0061] It can be understood that the distance between the first avoiding section 111 and the third avoiding section 113 increases in turn from the direction towards the second avoiding section 112 to the direction away from the second avoiding section 112, which can adapt to the position change of the track 10 when the track 10 is jacked up to different degrees, and conforms to the shape change rule of the track 10 when the track 10 is jacked up. For example, the position of the track 10 when jacked up is the highest point, and extends to both sides in turn to decline, so that the track 10 can be brought into the protection range of the avoiding portion 110 in the process of being jacked up, and collision with other rigid structures of the frame body 100 is avoided.
[0062] In a possible implementation, the track frame in the embodiment of the application, the number of the avoiding portion 110 and the number of the track roller 120 are both multiple, and the avoiding portion 110 and the track roller 120 are alternately arranged along the length direction of the frame body 100.
[0063] The number of the avoiding portion 110 is multiple, and each avoiding portion 110 is arranged at intervals along the length direction of the frame body 100, and the track roller 120 is located between two avoiding portions 110. Of course, the number of the track roller 120 is also multiple, and each track roller 120 is arranged at intervals along the length direction of the frame body 100, and the avoiding portion 110 is located between two track rollers 120.
[0064] The multiple avoiding portions 110 and the track rollers 120 are alternately arranged along the length direction of the frame body 100, which can protect each region of the track 10 when the track 10 encounters an obstacle and is jacked up during operation, effectively reduce the collision risk, and reduce the possibility of cutting or wear of the track 10 in all directions, thereby prolonging the service life of the long track 10.
[0065] In a possible implementation, the track frame in the embodiment of the application, part of the avoiding portion 110 extends to the track roller 120.
[0066] It should be noted that the avoidance part 110 is an arc-shaped groove structure as a whole, which is concave downward, and the curvature is designed according to the outer contour of the road wheel 120 and the running track of the track 10. The top of the avoidance part 110 is at a horizontal position or an arc apex position, and cooperates with the road wheel 120, so that the track 10 will not contact the frame 100 when running normally or being lifted up by obstacles.
[0067] The two ends of the avoidance part 110 extend along the length direction of the frame 100, and the end of the avoidance part 110 extends at least to the road wheel 120, and has a certain overlapping area with the road wheel 120 in the length direction of the frame 100, such as the end of the avoidance part 110 extending to the middle position of the road wheel 120.
[0068] When the track 10 is lifted up due to terrain undulation or other factors, such as encountering obstacles, the projection of the arc part of the avoidance part 110 on the road wheel 120 intersects with the circular outer contour of the road wheel 120, so that the track 10 is always within the range of the avoidance part 110 during the lifting process, avoiding direct contact with the frame 100, and preventing the track 10 from being cut and damaged by the sharp edge of the frame 100.
[0069] Of course, the frame 100 can also be provided with a protective layer, such as a rubber layer, on the side facing the track 10, to prevent the track 10 from colliding with the frame 100 in accidental situations, and to play a role in reducing impact and protecting the track 10.
[0070] In a possible implementation, the height of the avoidance part 110 of the track frame in the embodiment of the application is calculated according to the following formula:
[0071]
[0072] Wherein, H1 is the height of the avoidance part 110, H is the height of the track 10 lifted up by the obstacle, x is the displacement of the center of the obstacle and the center of the nearest road wheel 120 in the length direction of the frame 100, R is the radius of the road wheel 120, and is the angle between the tangent point corresponding to the tangent line of the obstacle side facing the road wheel 120 and the center of the road wheel 120 in the vertical direction.
[0073] In combination Figure 2 And Figure 3 The derivation process of the above formula is as follows:
[0074] The avoidance part 110 is provided at the bottom of the frame 100, when the excavator runs and encounters obstacles, the track 10 is lifted up to a certain height at the local position by the obstacles, at this time, according to the force analysis diagram, it can be obtained that:
[0075]
[0076] L = (L1 + L2 + L3 + L4 + L5 + L6)2(3)
[0077] When the track 10 is lifted by a foreign object similar to a very sharp peak, L6≈0(4)
[0078]
[0079] L3 = R * θ1(7)
[0080]
[0081] L5 = R * θ2(9)
[0082] F = k * L(10)
[0083]
[0084] H1≥H(12)
[0085] Wherein, G is the weight of the excavator, for the excavator, the position of the center of gravity of the excavator is fixed, the diameter and arrangement of the carrier roller 120 are determined, then the value of n, R, L1 is known, and the value of x and m also exists the relationship; therefore, according to the formula (1)-(12), the height H of the track being lifted at any position can be calculated, therefore, as long as the height H1 of the lower frame avoiding part 110 is greater than or equal to the height H of the track being lifted at any position, no matter what kind of obstacle the excavator passes through, so that the track 10 will not be cut by the frame body 100. In some cases, the height of the avoiding part 110 is equal to H.
[0086] Wherein, the material of the track 10 is not limited in the application, and the track 10 can be a rubber track.
[0087] In a possible implementation, the track frame in the embodiment of the application, the driving member 200 includes a connecting member 210 and a driving wheel 220, the driving wheel 220 is rotationally arranged on the connecting member 210, the driving wheel 220 is used for winding the track 10, and the connecting member 210 is arranged at the end of the frame body 100.
[0088] It should be noted that the connecting member 210 can include two connecting parts, one connecting part is used for connecting with the driving wheel 220, and the other connecting part is used for connecting with the carrier roller or the guide roller or the tensioning roller or another driving wheel of the excavator, so as to enable the track 10 to rotate. Of course, the connecting member 210 can include one connecting part, which is used for connecting with the driving wheel 220.
[0089] The main body of the driving wheel 220 is cylindrical, and a tooth groove is arranged on the outer circumferential surface of the main body to engage with the track 10. The tooth groove is trapezoidal to facilitate close cooperation with the track 10. The center of the driving wheel 220 is provided with a shaft hole, and a bearing is arranged in the shaft hole. The outer ring of the bearing cooperates with the shaft hole of the driving wheel 220, and the inner ring cooperates with the connecting shaft on the connecting member 210 to ensure that the driving wheel 220 can rotate flexibly.
[0090] In a possible implementation, the track frame in the embodiment of the present application further comprises a second connecting member 400. The second connecting member 400 is arranged on the frame body 100 and located above the avoiding part 110. The second connecting member 400 is used to connect with the center frame of the excavator.
[0091] The second connecting member 400 is located in the middle part of the frame body 100, and the second connecting member 400 is located above the avoiding part 110. The second connecting member 400 extends upward away from the avoiding part 110, and is connected with the center frame of the excavator through the second connecting member 400. The second connecting member 400 can be a cantilever beam.
[0092] The structure of the second connecting member 400 is not limited in the present application. The main body of the second connecting member 400 is in the shape of an I-beam, which is composed of an upper flange, a lower flange and a web. The upper flange and the lower flange provide bending resistance, and the web resists shear force. One end of the cantilever beam is connected to the interface in the middle part of the frame body 100 through bolts, and the bolts are uniformly distributed on the connecting surface to ensure the reliability of the connection. The other end extends upward and is connected to the center frame of the excavator through a pin shaft. Open pins are arranged at both ends of the pin shaft to prevent the pin shaft from falling off.
[0093] On the other hand, the present application provides an excavator, which comprises a body and the track frame in any of the above embodiments arranged on the body.
[0094] The type of the excavator is not limited in the present application. The excavator can be a large excavator, a medium excavator or a small excavator, or a general excavator, a mining excavator, a ship excavator, a special excavator, a positive shovel excavator, a reverse shovel excavator, a dragline excavator or a grab shovel excavator, and the embodiment of the present application is not limited in this regard.
[0095] The body of the crawler excavator comprises a working device, an upper rotating platform and a traveling mechanism. The traveling mechanism adopts a crawler chassis, comprising a driving wheel 220, a guide wheel, a supporting wheel 120 and a carrier wheel. The driving wheel 220 is located at the rear of the traveling mechanism of the excavator, and is engaged with the track chain of the crawler 10. The power of the engine is transmitted to the crawler 10 through the traveling motor and the driving wheel 220, and the transmission is stable. The guide wheel is used to guide the crawler 10 to rotate correctly, prevent it from deviating and running off the track, and the supporting wheel 120 is used to transmit the weight of the excavator to the ground, which can increase the contact area of the crawler 10 with the ground and reduce the specific contact pressure. The carrier wheel is used to hold the crawler 10 upward, so that the crawler 10 has a certain tension. The crawler 10 is connected by a plurality of metal crawler plates, has a large contact area with the ground and a small specific contact pressure. Therefore, when working on soft ground or slope, it is not easy to sink or overturn. Even when heavy excavation work is carried out, the body can remain stable, ensuring the accuracy and safety of the excavation action.
[0096] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.
[0097] It is understood that the application is not limited to the precise construction disclosed above and shown in the drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the claims that follow.
Claims
1. A tracked vehicle frame, characterized in that, include: The frame has a drive unit and a guide wheel at both ends. The track is wrapped around the guide wheel and the drive unit. Multiple support rollers are provided between the track and the frame. A clearance part is provided between the frame and the adjacent support roller.
2. The tracked vehicle frame according to claim 1, characterized in that, The bottom of the frame has a recess along the height direction of the frame, the recess forming the clearance part, and the recess facing the track.
3. The tracked vehicle frame according to claim 2, characterized in that, The avoidance section is arc-shaped.
4. The tracked vehicle frame according to claim 1, characterized in that, The avoidance section includes a first avoidance segment, a second avoidance segment, and a third avoidance segment connected in sequence. The first avoidance segment and the third avoidance segment are arranged opposite to each other, and the distance between the first avoidance segment and the third avoidance segment increases sequentially from the direction toward the second avoidance segment to the direction away from the second avoidance segment.
5. The tracked vehicle frame according to any one of claims 1-4, characterized in that, The number of the clearance section and the support roller are both multiple, and the clearance section and the support roller are arranged alternately along the length of the frame.
6. The tracked vehicle frame according to any one of claims 1-4, characterized in that, The avoidance portion extends to the support roller.
7. The tracked vehicle frame according to any one of claims 1-4, characterized in that, The height of the clearance section is calculated using the following formula: Wherein, H1 is the height of the clearance section, H is the height of the track being lifted by the obstacle, x is the displacement of the center of the obstacle and the center of the nearest support roller along the length of the frame, R is the radius of the support roller, and θ1 is the angle between the point of tangency of the extension line of the obstacle toward the support roller and the center of the support roller in the vertical direction.
8. The tracked vehicle frame according to any one of claims 1-4, characterized in that, The driving component includes a connector and a driving wheel. The driving wheel is rotatably mounted on the connector and is used to wrap around the track. The connector is located at the end of the frame.
9. The tracked vehicle frame according to any one of claims 1-4, characterized in that, It also includes a second connector, which is disposed on the frame and located above the clearance portion, and is used to connect to the center frame of the excavator.
10. An excavator, characterized in that, It includes the body and the tracked frame as described in any one of claims 1-9, which is disposed on the body.