Abstract: As an important branch of coal mine robot, coal mine track inspection robot has always been a hot research direction at home and abroad. In order to solve the problems of the traditional track inspection robot, such as the jamming caused by the dislocation of the track which is affected by the deformation of the roadway and the high cost of the track construction, a new type of climbing line inspection robot based on the bionics principle is developed. Referring to the movement mode of gibbons in nature, a bionic structure of the track inspection robot is proposed, which uses the alternating grasping of claws to realize walking, and has good obstacle surmounting ability and adaptive ability of flexible track. A distributed control system is proposed, the overall architecture of the control system and the detailed design of software functions are completed, and the driving ability of the robot is calculated in detail. Finally, the motion performance of the robot is verified by experiments.