Abstract: As the operating environment of underground coal mine is complicated and changeable, drilling exploration has become an essential part of coal mining. Drill pipe loading and unloading is an important step in the drilling process, and the traditional manual drill pipe loading and unloading method is not only time-consuming, but also extremely labor-intensive, which poses a serious threat to the health of workers. In order to improve the efficiency of drill pipe loading and unloading of underground coal mine drilling rigs, reduce the labor intensity, and enhance the safety of operation, we discuss and summarize the current automatic loading and unloading technology of drill pipe supporting the intelligent drilling rigs in underground coal mines, and find that the multiaxial liquid-driven manipulator-type rod changing technology can be used as an effective program to solve the automatic loading and unloading problem of multi-specification drilling tools due to its high degree of flexibility and adaptability. Based on the key technologies of current manipulator research, it is analyzed that the dynamic path planning method is the difficulty in the research of multi-axis manipulator-type drill pipe loading and unloading system. On the basis of summarizing the current research progress in the field of dynamic trajectory planning for manipulators, it analyzes the strengths and weaknesses of the existing path planning methods, especially the adaptive performance in dynamic environment. On this basis, the application of hybrid trajectory planning strategies based on the Rapidly-exploring Random Tree (RRT) algorithm in complex environments is investigated. It is demonstrated that these methods show significant advantages in improving the accuracy of manipulator path planning, reducing the operation time, and enhancing the robustness of the system. Flor the future research direction, suggestions are made to further improve the performance of the dynamic trajectory planning algorithm of the manipulator, to enhance the autonomous operation capability of the manipulator, and to promote the comprehensive application of the automation technology in underground coal mines.