目前我国采煤机的工作环境较为恶劣，导致行走轮的使用寿命普遍较短。为了降低频繁更换行走轮所带来的不便与损失，在设计时应尽量延长行走轮的使用寿命，以达到节约生产成本和提高生产能力的目的。本论文在原有采煤机行走机构的基础上进行了改进，介绍了一种含有四个行走轮的采煤机行走机构，并通过动态仿真，对此机构进行了可行性实验。 介绍了采煤机无链牵引机构的性能以及四轮行走机构的具体结构，为动态仿真分析提供建模依据。 分析了目前我国不同类型行走轮和销排的使用区别，并在此基础上，选取合适的参数建立了行走轮和销排的三维几何模型，为动态仿真奠定基础。 实现了采煤机四轮行走机构参数化建模和动态仿真。研究了采煤机行走轮间不同安装距离、不同滑靴长度以及不同销排宽度等因素，对行走机构可通过的水平转弯角度的影响。仿真结果说明行走轮间安装距离越短，滑靴总长度越短，销板间距越宽，四轮行走机构可通过的水平转弯角度越大。对本论文所使用的采煤机行走轮尺寸、行走轮的安装位置，进行了调整和优化，能够更快捷更准确的得出有效数据，为以后的设计提供依据。 总结了本文的研究成果，以及未来的发展方向，为以后的深入研究指明道路。

Due to the current using environment of China’s shearer, the service life of the travelling wheels is generally short. To avoid the inconvenience and loss caused by frequent replacement, we should try to extend the service life of the travelling wheels to save the production costs. This paper modified existing travelling wheels，and introduced the new haulage mechanism including four travelling wheels, and completed the verification aimed at feasibility, reliability and practicability of this device. It introduced the performance of chainless haulage mechanism and the detailed structure of four travelling wheels on shearer and provided a model for dynamic simulation analysis. It analyzed the service conditions of different types of travelling wheel and pin, on that basis, selected appropriate parameters and established the 3D geometric model of travelling wheel and pin. It provided the basis for dynamic simulation. It realized the parametric modeling and dynamic simulation of four travelling wheels on shearers. Then, under the condition of the different installation distances between wheels, guide slipper length and pin length, realizable deflection angle in the process of travel was researched. The conclusion that the shorter the installation distances between wheels and guide slipper length, the wider the distances between pin plates, the bigger the realizable deflection angle was obtained. Wheel size, load and installation position of shearers in this scheme was adjusted and optimized to achieve more accurate and optimal data got in fast way. It provided a reference basis for future design. It summarized the achievement of this paper and the future direction，pointed the way for in-depth study.