关键词: 薄煤层, 巡检机器人, 行走机构, 跨沟性能

Abstract: For the complex terrain environment of fully mechanized working face in thin coal seam, we designed a four-rocker crawler inspection robot which can assisted maintenance workers to accomplish routine mining equipment inspection work and reduced the labor intensity of workers. The ditch performance of the inspection robot is analyzed, and the maximum width of the ditch without the rocker-arm auxiliary is 278.9mm, and the maximum width of the ditch with the rocker-arm auxiliary is 347.15mm.The ditch-crossing process were virtual simulation in ADAMS, to verify the correctness of the theoretical analysis. Finally, the ditch performance test of the walking mechanism prototype was implemented, and the results show that the design of the inspection robot can meet the requirements of thin coal seam fully mechanized working face environment.