In order to extend the service life of the cantilever roadheader pick system, and reduce the system operation and maintenance costs, according to the maintenance need of the pick system and the resulting spare parts need, a joint policy of preventive maintenance and spare parts inventory based on periodic inspection is proposed .A (m,τ,S,s) joint decision-making model for the maintenance and spare parts inventory of the pick system is established with the goal of minimizing the cost rate and considering availability constraint. Based on engineering data, the optimal objective and corresponding decision variables are obtained by genetic algorithm. The results show that when the preventive replacement threshold is 8 pieces, the inspection cycle is 12 days, the target inventory level is 75 pieces, and the spare parts ordering threshold is 45 pieces, the availability of the pick system is 0.87, and the cost rate reaches the minimum of 162.45 yuan/h. Therefore, searching for the global optimal maintenance plan and the matching spare parts ordering and inventory plan to achieve more reasonable integration and optimization of maintenance and spare parts inventory can further improve the safety and economy of the pick system operation.