为研究能够适应煤矿井下复杂地形环境的探测机器人行走机构,分析了圆锥齿轮啮合型差动机构的工作原理并进行了详细的结构设计,采用摇杆悬架结构设计了摇杆式四轮煤矿探测机器人,并对该机器人进行了虚拟仿真和样机试验验证。 In order to study the robot walking mechanism which can adapt to the complex terrain in coal mine, the working principle of the bevel gear meshing differential mechanism is analyzed and the detailed structure design is carried out. The rocker four-wheel coal mine detection The robot is simulated by virtual simulation and prototype test.