This paper presents a tracked robot with two articulated tracked arms for explosive or toxic gases detecting under coal mine. The ground under coal mine is seriously uneven. There are rails, crossties, ditches and some electrical apparatuses arranged in the coal mine tunnels. And sometimes the tunnels are with large slopes. The two articulated tracked arms can help the robot to surmount more obstacles and improve the adaptivity to uneven ground under coal mine. Since the coal mine is the highest degree explosive gases atmosphere, the coal mine detection robot itself can not be the source of explosion and must meet the mine-permissible requirements. Explosion-proof is essentially. In order to decrease the weight of the coal mine detection robot as possible, pressurized enclosure explosion-proof type is adopted for it. The components and workflow of the explosion-proof system of the robot are described in detail in this paper.
