由于当前技术条件下，行走轮使用寿命较短，为避免频繁更换行走轮所带来的不便与损失，应尽量设法延长行走轮的使用寿命。本文在此对采煤机原有的行走轮、行走机构、牵引传动装置进行了改进，重新设计为包含有四行走轮的采煤机牵引系统——采煤机四行走轮牵引系统。并完成了该装置的可行性、可靠性和实用性的校验。 　　　设计了牵引机构的结构。按照传统的设计方式，设计出符合要求的牵引机构的详细结构，使四行走轮装置更加完整，并具有可行性及现实意义，以此为动态仿真及受力分析提供几何模型。 　　　建立了采煤机四行走轮动态仿真模型，研究了采煤机行走轮间不同安装距离、不同滑靴长度及不同销排宽度时可实现的行走偏转角度，得出了行走轮间安装距离越短，滑靴总长度越短，销板间距越宽，可通过的偏角越大的结论。并通过参数化建模，对方案中的采煤机行走轮尺寸、行走轮的安装位置及所受载荷情况，进行了调整、优化，以快捷的方式，得到更准确的数据。 　　　建立了采煤机四行走轮几何模型，研究了采煤机原有行走机构与新型行走机构的行走轮所承受载荷，再利用有限元分析软件，建立了具体的有限元力学模型，分析弯曲段满载运行时的应力应变，得出了四行走轮机构摆线轮的应力、应变约为普通行走轮机构的二分之一的结论。以此比较了普通采煤机与四行走轮采煤机之间行走轮的可靠性。

Due to the current technical conditions, the service life of the travelling wheels is short.We should try to extend the service life of the travelling wheels to avoid the the inconvenience and loss caused by its frequent replacement.This paper modified existing travelling wheels and haulage mechanism of shearers ,and redesigned to the new haulage mechanism including four travelling wheels,that is chainless haulage mechanism with four travelling wheels of shearers.In the end,the checking of feasibility,reliability and practicability of this device has completed. 　　　The structure of haulage mechanism was designed.According to the traditional design methods,the detailed structure of haulage mechanism was designed to meet the requirements. It made four travelling wheels mechanism more complete, feasible and practical,at the same time,it provided dynamic simulation and stress analysis with geometry model. 　　　The dynamic simulation model of four travelling wheels on shearers was established.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.Through the parametric modeling,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. 　　　By using finite element analysis software,established geometrical model of four travelling wheels on shearers.Analysing the load of existing travelling wheels and four existing travelling wheels, concreting finite element mechanics model was built to collected the data of stress and strain when they are operating full-loaded on bending section.The conclusion that the stress and strain of cycloidal gear on four-wheels shearers are about half of the common one was obtained.On this basis,the reliability of the travelling wheels between the two types was compared .