As a representative of the automation and intelligence era, robot technology has become the focus of the intelligent control research, Various robot intelligent control technologies have been developed, Robots are more and more used to achieve some complex contact-rich interaction tasks. This paper chooses robot complex contact-rich interaction tasks as a topic, combining the research of robot reinforcement learning, to make a survey of research about the robot contact-rich interaction tasks based on reinforcement learning. We review some representative researches of implementing reinforcement learning in robot contact-rich interaction tasks, analyze the existing problems in these researches, summarize the optimization methods of solving these problems to improve the experimental effects, and finally make a prospect on the future of robot contact-rich tasks.