The invention discloses a swing type equal-diameter multi-cutterhead enveloping forming full-face drilling tool. The drilling tool comprises a swing mechanism, a drill boom, driving devices and a drilling tool body; the swing mechanism comprises an outer shell, a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder and a fourth hydraulic cylinder; a transmission shaftwith the same axis is arranged in the outer shell; each of the upper part and the lower part of the transmission shaft is connected to the inner wall of the outer shell through a bearing, and the lower part of the transmission shaft extends out of the outer shell; a connecting plate sleeves the part, located outside the outer shell, of transmission shaft; the first hydraulic cylinder and the second hydraulic cylinder are connected to the outer end part of a machine frame of a vertical shaft heading machine in a rotating mode in a figure-eight pattern, and the end parts of piston rods of the first hydraulic cylinder and the second hydraulic cylinder are connected to the connecting plate in a rotating mode; the third hydraulic cylinder and the fourth hydraulic cylinder are connected to the connecting plate in a rotating mode in a figure-eight pattern, and the end parts of piston rods of the third hydraulic cylinder and the fourth hydraulic cylinder are connected to the drill boom in a rotating mode; the multiple driving devices are arranged on the drill boom; and the drilling tool body located below a supporting arm is connected to the driving devices. The full-face drilling tool canbe adaptable to different geological conditions, and full-face heading is realized.