煤矿井下综采工作面空间狭小、设备动作频繁，位置关系复杂等问题，导致常规巡检机器人难以直接在工作面运行，自动化监测难度大。根据工况需求，结合环境及设备群动作特点，提出工作面巡检轨道设计要求，采用模块化设计、仿真模拟和样机试验的方法，设计一种新型跨座式巡检机器人柔性轨道，实现在工作面环境的安装调节及当安装设备发生动作变形时轨道自身的自适应补偿。首先设计了巡检机器人柔性轨道的机械结构并确定安装运行方式。其次，以轨道跨接在刮板输送机线缆槽一侧为例，分析刮板输送机在平直、弯曲和起伏3种工况下的弯曲和俯仰变形量，并对柔性轨道进行运动学仿真。在3种工况下，该轨道可随工作面设备完成水平弯曲0~5.4°、竖直倾斜0~6°、伸缩变形0~120 mm，满足实际工况要求。巡检机器人通过柔性轨道时，其主运动方向始终保持匀速直线运动，水平或竖直方向在柔性过度段存在波动，波动幅值均在安全允许范围内。最后搭建柔性轨道物理样机及工作面试验平台，对工作面巡检机器人柔性轨道进行性能验证。结果表明：新型跨座式巡检机器人柔性轨道结构设计合理，可以适应工作面巡检的不同工况，对实现煤矿井下综采工作面机器人巡检具有重要意义。

The problems of narrow space, frequent operation of equipment and complex positional relationship in coal mine fully-mechanized mining face make it difficult for the conventional inspection robot to run directly on the mining face and automated monitoring. According to the requirements of working conditions, combined with the environment and the action characteristics of equipment group, the design requirements of working face inspection track are proposed. A new type of flexible track for cross-seat inspection robot is designed by using modular design, simulation, and prototype test methods to realize the installation and adjustment of the working face environment and the adaptive compensation of the track itself when the installation equipment moves and deforms. Firstly, the mechanical structure of the flexible track of the inspection robot is designed and the installation operation mode is determined. Secondly, taking the track spanning on the side of the cable groove of the scraper conveyor as an example, the bending and pitching deformation of the scraper conveyor under three different working conditions of straightness, bending and fluctuation are analyzed and the kinematics simulation of the flexible track is carried out. Under three working conditions, the track can be completed with horizontal bending 0~5.4°, vertical inclination of 0~6° and telescopic deformation 0~120 mm with the working face equipment to meet the actual working conditions. When the inspection robot on board passes through the flexible track under three different working conditions, it can always maintain uniform linear motion in the main operating direction, and the horizontal or vertical direction fluctuates in the flexible transition section, and the amplitude of the fluctuation is within the safe allowable range. Finally, the physical prototype of the flexible track and the test platform of the working face are built to verify the performance of the flexible track of the working face inspection robot. The results show that the flexible track structure is designed reasonably and can be adapted to different working conditions of the mining face inspection. It is of great significance to realize the inspection of the robot in the fully mechanized working face under the coal mine.