煤矿智能化是煤炭工业高质量发展的必经之路，煤矿机器人研发应用推动煤矿智能化迈向高水平，同时智能化的全面建设和发展又给机器人的大面积推广应用提供了广阔的工业应用场景。本文研究提出了完整的煤矿机器人技术体系框架，精确定义了煤矿机器人的技术底座和产品外沿，广义煤矿机器人包括单体机器人、机器人化装备、机器人集群和无人化系统等。科学阐明了煤矿机器人研发的共性关键技术支撑，提出了通过与5G、工业互联网、大数据、人工智能、数字孪生等新技术交叉融合，大幅提升煤矿机器人的自主化和智能化应用水平，通过建立科学完备的煤矿机器人行业标准规范体系，实现各类机器人的定制化研发和标准化生产。具体分析了煤矿机器人的防爆设计、机械系统创新、动力驱动、智能传感、定位导航、井下通信等共性关键技术研究进展，综述了当前我国各类煤矿机器人的研发应用现状。提出了未来煤矿机器人研发的新方向：研发变胞机器人，通过机构创新，提高井下地形适应能力；推广机器人化采掘系统，提升采矿装备的整体智能化水平和开采作业效率；发展人机环共融机器人，提高煤矿机器人自主化和协作水平；加快全矿井机器人系统数字孪生，提高煤矿机器人常态化运行水平。 

The intelligentization of coal mines is the only way for the high⁃quality development of coal industry. The re⁃ search and development of coal mine robot promotes the intelligent coal mines to a high level. Meanwhile，the compre⁃ hensive construction and development of intelligent coal mines provides a broad industrial application scenario for ro⁃ bots’ large⁃scale promotion and application. In this paper，a complete technical system framework of coal mine robot was proposed，and the technical base and product outer edge of coal mine robot were precisely defined. The generalized coal mine robots include single robot，robotic equipment，robot cluster，and unmanned system，etc. This pa⁃ per scientifically expounds the common key technical support for the research and development of coal mine robots， and proposes that through the cross⁃integration with new technologies such as 5G， industrial Internet， big data，Artificial Intelligence and digital twinning，the autonomous and intelligent application level of coal mine robots can be greatly improved. The customized research and development and standardized production of various kinds of ro⁃ bots can be realized through the establishment of a scientific and complete industry⁃standard system for coal mine ro⁃ bots. This paper analyzed the research progress of common key technologies such as explosion⁃proof design，mechanical system innovation，power drive，intelligent sensing，positioning and navigation，and underground communication of coal mine robots，and summarized the current research and application status of all kinds of coal mine robots in Chi⁃ na. The new direction of mine robot research and development in the future is put forward， which includes developing the metamorphic robot to improve its adaptability to underground terrain through the innovation of ro⁃ bot mechanism;promoting the robotic mining system to improve the overall intelligent level of mining equipment and mining efficiency;developing human⁃machine loop integration robot to improve the autonomy and cooperation level of coal mine robots;and speeding up the digital twinning of the whole mine robot system to improve the robots’ normal operation level.

1 煤矿机器人技术体系

2 煤矿机器人共性关键技术

   2.1 机器人防爆设计

   2.2 机器人构型创新

   2.3 机器人动力驱动技术

   2.4 机器人智能传感技术

   2.5 煤矿机器人定位导航技术

   2.6 煤矿机器人井下通信技术

3 煤矿机器人研发应用

   3.1 研发应用总体情况

   3.2 煤矿机器人典型应用场景分布

   3.3 各类煤矿机器人研发应用进展

4 煤矿机器人发展新方向

   4.1 煤矿井下环境变胞机器人

   4.2 煤矿机器人化采掘系统

   4.3 井下人机环共融机器人

5 结论