Compact double-swing-head structure with high rigidity and mass ratio

The invention discloses a compact double-swing-head structure with a high rigidity mass ratio, and relates to the technical field of robots, a torque motor comprises a C-axis torque motor stator, a C-axis torque motor rotor and a C-axis shell, the C-axis torque motor rotor is sleeved with the C-axis shell, and a C-axis hydraulic clamping sleeve is arranged between the C-axis torque motor rotor and the C-axis shell; the A-axis driving mechanism comprises an A-axis connecting frame, a spindle box, an A-axis servo motor, a left-end supporting shaft, a right-end supporting shaft, a planetary reducer and a worm and gear reducer, the A-axis connecting frame is connected with a rotor of the C-axis torque motor, and the two ends of the spindle box are rotationally connected with the A-axis connecting frame through the left-end supporting shaft and the right-end supporting shaft correspondingly; the A-axis servo motor, the planetary reducer, the worm and gear reducer and the left-end supporting shaft are sequentially