Hard nodule coal rock is widely distributed in the eastern mining area of China, and the traditional homogeneous coal rock cutting theory is difficult to be adapted to the complex coal rock environment. This paper establishes a rigid-flexible coupling dynamics model of pickaxe shaped tooth - hard nodule coal rock, and investigates the effects of rotational speed, hauling speed and hard nodule solidity coefficient on the vibration characteristics of the drum through the joint simulation of MATLAB and ADAMS. The results show that: the increase of drum rotational speed leads to the nonlinear increase of triaxial vibration acceleration; the increase of robustness coefficient makes the three-direction acceleration show a high-order polynomial response. The vibration triaxial acceleration also tends to grow when the traction speed increases, but the growth is relatively flat when the traction speed is less than 4 m/min.