为研究煤矿井下液压钻机的振动特性，指导钻机优化设计和状态监测，以 ZDY6500LQ 型全液压动力头式钻机为研究对象，进行了整机振动测试与分析。根据钻机工作原理得出主要激振源，以低速高转矩运行状态为例，计算了该状态主要部件激振频率。基于振动测试原理，确定了试验方案，结合钻机综合性能检测平台搭建了振动测试系统。在空载、低速高转矩和高速低转矩 3 种工作状态下对钻机的 8 个主要位置进行了振动测试。应用频域分析方法，将测试数据转化为对应频谱，分析了低速高转矩状态下主要激振源引起的钻机振动特性；应用 1/3 倍频程方法，对比分析了 3 种工作状态下钻机8个测点位置的振动总量，以及前后、左右、上下3个方向加速度均方根值的变化规律。结果表明：钻机在低速高转矩状态下，动力头减速箱和泵站柱塞泵是最大激振源；振动频率高于100 Hz时，对钻机整机振动影响较大。在钻机动力头位置，低速高转矩负载使减速器箱体振动总量较空载减少3.11%～7.27%，高速低转矩状态下振动总量较空载增加5～6倍；除动力头外，钻机空载状态下各测点振动最小，拖板、导轨、卡板振动与负载成正相关，低速高转矩状态下振动总量是空载状态的2～5倍；钻机在低速高转矩状态下整机有效功率大于50%，能耗较低。研究结果为优化钻机结构，提升钻探施工安全及可靠性提供了参考。

In order to study the vibration characteristics of the full hydraulic drilling rig in underground coal mine and guide the optimization design and condition monitoring of the drilling rig, the ZDY6500LQ full hydraulic power head drilling rig was taken as the study object to carry out vibration measurement and analysis. According to the working principle of the drilling rig, the main exciting vibration sources were obtained. Taking the low-speed and high-torque operation condition as an example, the exciting vibration frequencies of the main components in this condition were calculated. Based on the principle of vibration measurement, the measurement scheme was determined, and the vibration measurement system was built combined with the comprehensive performance measurement platform of drilling rig. Vibration measurements were carried out at eight main positions of the drilling rig under three working conditions: no-load, low-speed and high-torque, and high-speed and low-torque. The frequency domain analysis method was used to transform the measurement data into the corresponding frequency spectrum, and the vibration characteristics of the drilling rig caused by the main excitation sources under the condition of low-speed and high-torque were analyzed. Using the 1/3 octave frequency range method, the total vibration at eight measuring points of the drilling rig under three working conditions and the variation laws of root mean square value of acceleration in front and back, left and right, up and down directions were compared and analyzed. The study results showed that under the condition of low-speed and high-torque, the power head reducer and the plunger pump were the largest excitation sources. When the exciting vibration frequency was higher than 100 Hz, it had a great impact on the vibration of the drilling rig. At the position of power head, the total vibration of reducer box under low-speed and high-torque load was reduced by 3.11%-7.27% compared with no-load, but the total vibration under high-speed and low-torque condition was increased by 5-6 times compared with no-load. Except for the power head, the vibration of each measuring point of the drilling rig under no-load condition was the smallest, the vibration of supporting plate, guide rail and clamping plate was positively correlated with the load, and the total vibration under low-speed and high-torque condition was 2-5 times that under no-load condition. Under the main condition of low-speed and high-torque, the effective power of the whole rig was greater than 50%, the energy consumption is relatively low. The study results provided a reference for optimizing the structure of drilling rig and improving the safety and reliability of drilling construction.