煤矿救援机器人是一种在矿井发生灾害事故时，替代救护队员进入危险区域进行环境探测和对矿工实施救援的多功能智能救援装备，其应用对提升煤矿灾后救援效率、减少 2 次伤亡具有重要的意义。 

以中国矿业大学 CUMT-V 系列煤矿环境探测与救援机器人的研发为例，从行走机构、防爆设计、结构轻量化、通信方法、传感探测和智能化等方面进行了相关技术和理论研究。 

针对灾后煤矿的巷道环境特点，推演了机器人行走机构的基本构型，设计了地形适应性好、越障能力强的机器人行走机构;提出并采用基于短时防爆理论的本安兼隔爆的机器人防爆设计技术;提出了基于多腔体自加强结构的机器人轻量化优化设计方法;采用了有线和无线相结合的机器人通信方式;搭建了机器人传感探测与运动控制系统;研发了机器人井下地图构建和定位导航技术。 从而研制了能够承载多种探测传感器和急救装备的煤矿灾后环境探测救援机器人，并取得了国家煤矿安全认证。 

井下应用试验及性能测试结果表明，机器人的行走能力强，能够适用于煤矿非结构复杂地形;机器人续航能力强，通信距离长，环境感知和信息传输的可靠性高;能够通过遥控方式实现机器人的灾后救援;采用有线和无线相结合的机器人通信技术可实现多台机器人的协同救援。 通过对机器人进行智能化升级，提高了煤矿救援机器人的环境感知能力，并使其具备了实时定位与自主行走的功能。 将上述技术的组合进一步完善，可研发出满足不同应用需求的煤矿环境探测、监控、救援机器人。

Coal mine rescue robot (CMRR) is a kind of intelligent equipment which not only substitutes rescuer ente- ring the danger area to carry out environmental exploration and rescue the miners,but also contributes to improving the rescue efficiency,especially reducing secondary casualties when the disaster occurs in the mine suddenly. Taking the China University of Mining and Technology-V ( CUMT-V) series CMRR as an example,the relevant technology and research are carried out from the aspects of walking mechanism,explosion-proof design,structural lightweight,commu- nication method,sensing detection and intelligence. Aiming to the environmental characteristics of the post-disaster coal mine,firstly the robot walking mechanism is designed for a good terrain adaptability and strong barrier ability. Secondly,the robot explosion-proof design technology based on the short-term explosion-proof theory is presented and adopted. Thirdly,the robot lightweight optimization design method which called a multicavity self-strengthening structure is adopted. Fourthly,the robot sensor detection and motion control system are constructed. Fifthly,the robot com- munication method of wired-wireless combination is proposed for improving rescue efficiency. Finally,the robot under- ground map construction and positioning navi-gation technology was developed to simplify personnel operations. Thus, the CMRR which can carry many kinds of sensors and first-aid equipment is developed,and has obtained the national coal safety certification. The results of field application and performance test show that the robot has strong walking a- bility and can be applied to the non-structural complex terrain of coal mine. Additionally,the robot has a strong range, long communication dis-tance,and high reliability of environmental awareness and information transmission. To be de- light the robot can be remotely controlled for post-disaster relief and the collaborative rescue of multiple robots can be achieved. Furthermore,through the intelligent upgrade of the robot,the environment perception ability of the CMRR is improved,and it has the ability of real-time positioning and autonomous walking. By further improving the combination of the above technologies,the detection,monitoring and rescue robots of coal mine environment can be developed to meet the needs of different applications.