Hard rock roadway and tunnel boring machine with actively rotating hobs

A hard rock roadway and tunnel boring machine with actively rotating hobs, comprising a rack provided with a crawler track unit, wherein the rack is provided with a hydraulic power unit and a high-pressure abrasive jet generation system connected to the hydraulic power unit, a transmission box is fixedly arranged at one end of the rack, two sides of the transmission box are respectively provided with two input shafts and one output shaft, the input shafts are connected with planetary reduction mechanisms, input ends of the planetary reduction mechanisms are connected with cantilever disc driving motors, a cantilever disc is fixed to the output shaft, four cantilevers are hinged to the cantilever disc, cantilever driving motors configured to control rotation angles of the cantilevers are further arranged on the cantilever disc, actively rotating hob devices are arranged at ends of the cantilevers away from the cantilever disc, the transmission box is further provided with a rotary sealing device, the rotary sealing device is connected with the hydraulic power unit and the high-pressure abrasive jet generation system through pipelines, the cantilever disc driving motors are connected with the hydraulic power unit through pipelines, and the actively rotating hob devices and the cantilever driving motors are respectively connected with the transmission box through pipelines,

• wherein the rotary sealing device comprises a second shell and a sealing shaft surrounded by the second shell, the second shell is provided with a hydraulic oil inlet, a hydraulic oil return opening and a first high-pressure abrasive liquid inlet, the sealing shaft is respectively provided with a first oil inlet flow channel communicating with the hydraulic oil inlet, a first oil return flow channel communicating with the hydraulic oil return opening, and a first abrasive liquid flow channel communicating with the first high-pressure abrasive liquid inlet, the hydraulic oil inlet and the hydraulic oil return opening are connected with the hydraulic power unit, the first high-pressure abrasive liquid inlet is connected with the high-pressure abrasive jet generation system, and the sealing shaft is provided with a plurality of first sealing rings isolating the first oil inlet flow channel, the first oil return flow channel and the first abrasive liquid flow channel,
• the transmission box further comprises a first shell and a transmission gear arranged in the first shell, the input shafts are in transmission connection with the output shaft through the transmission gear, a second oil inlet flow channel communicating with the first oil inlet flow channel, a second oil return flow channel communicating with the first oil return flow channel and a second abrasive liquid flow channel communicating with the first abrasive liquid flow channel are respectively formed in the output shaft, the first shell is fixedly connected with the second shell, and the output shaft is fixedly connected with the sealing shaft,
• the actively rotating hob devices comprise driving motors provided with double extending shafts, the driving motors are fixed to the cantilevers, front extending ends of the double extending shafts are connected with hobs, rear extending ends of the double extending shafts are provided with second sealing rings and sealed through sealing shells, the sealing shells are fixed to the driving motors, oil inlets and oil return openings of the driving motors respectively communicate with the second oil inlet flow channel and the second oil return flow channel through rubber pipes, third abrasive liquid flow channels are formed in the double extending shafts, the hobs and the sealing shells are respectively provided with fourth abrasive liquid flow channels communicating with the third abrasive liquid flow channels, and second high-pressure abrasive liquid inlets, the second high-pressure abrasive liquid inlets communicate with the second abrasive liquid flow channel through rubber pipes, a plurality of nozzles are mounted at outer edges of the hobs, and the nozzles communicate with the fourth abrasive liquid flow channels.