Coal mine mining filling tunneling device and tunneling method thereof

The coal mine mining filling tunneling device comprises a hollow cylinder, a cross plate is arranged in a left end opening of the hollow cylinder, a main shaft is inserted into the middle of the cross plate, and the left end of the main shaft is sleeved with an active crushing cylinder; the middle of the main shaft is sequentially sleeved with a rotary cover disc and a concentric disc, sleeves are arranged on the rotary cover disc and the concentric disc, planetary shafts are inserted into the sleeves, and the left ends of the planetary shafts are sleeved with driven crushing barrels; a pair of first roll shafts is arranged between the pair of first transverse plates, and each first roll shaft is sleeved with a first roller; three second roller shafts are arranged between the pair of second transverse plates, each second roller shaft is sleeved with a second roller, and the pair of first rollers and the three second rollers are sequentially sleeved with the conveying belt to be in transmission connection. Acc