The persistent problems of "mining fast and heading slow" and "heading fast and supporting slow" in coal mine roadway drivage still exist currently, especially the issues of a low degree of equipment completeness, automation, and intelligence, and backward sequential operation technology, which seriously affect production continuity, as well as safe and efficient mining. To overcome these problems, this study developed a complete set of shield-pushing robot system for coal mine roadway drivage and proposed an intelligent parallel cooperative control method for the coal mine roadway drivage robot system. Firstly, the correlation between the subsystems of the drivage robot system and the interaction mechanism between multiple tasks were analyzed based on the coupling relationship between the drivage robot system and the roadway. It was concluded that the key factor determining drivage efficiency is the parallel cooperative control of the cutting robot and the anchor drilling robot. Secondly, a mathematical model of multi-rig and multi-task cooperative drilling and anchoring operation was developed based on the space-time relationship between each drilling rig. This model aimed to determine the row spacing, row number, and the number of drilling and anchoring tasks in each row. An optimal combination method was used to solve the problem, and the calculation results were optimized according to the maximum safety distance principle to obtain the optimal space-time matching strategy for each row of drilling rigs.Finally, the effectiveness of the proposed method was demonstrated through simulations and experiments of the parallel cooperative control of the drilling and anchoring robot system. The timing analysis of the cutting robot and the drilling and anchoring robot during drivage operations showed that the working time of the optimized drilling and anchoring robot could effectively align with the working time of the cutting robot, enabling them to complete cutting, drilling, and anchoring tasks in parallel and cooperation. This method has been implemented in the intelligent drivage robot system developed by the team, enabling intelligent parallel cooperative control of the multi-robot system. The drivage robot system with intelligent parallel cooperative control has been operational for nearly 10 months in a roadway with a large section (6.5 m × 4.25 m), where dirt bands and rib spalling coexist. It has successfully withstood the severe test of a 2.1 m thick dirt band with hardness ranging from f5 to f7, achieving a daily drill footage exceeding 50 meters.