Six-degree-of-freedom cutterhead connecting device for shield

The invention belongs to the technical field of shield tunneling machines. The six-degree-of-freedom cutterhead connecting device comprises six telescopic units which are evenly arranged on the surface of a shield tunneling machine, and each telescopic unit comprises a fixed end and a telescopic end; the first connecting unit is configured to be connected with the fixed end and the shield tunneling machine, so that the fixed end is hinged to the shield tunneling machine and can rotate in any direction relative to the shield tunneling machine; and the second connecting unit is configured to be connected with the telescopic end and the cutterhead, so that the telescopic end is hinged to the cutterhead and can rotate in any direction relative to the cutterhead. Six telescopic units are evenly arranged, under the action of a first connecting unit and a second connecting unit, the telescopic units can rotate relative to the shield tunneling machine and the cutter head, by controlling different telescopic units to