Manipulator device

A manipulator device comprises a driving mechanism, a slewing bearing mechanism, a rotating mechanism and a manipulator platform. The driving mechanism, the slewing bearing mechanism and the rotating mechanism are all mounted on the manipulator platform; the driving mechanism drives the slewing bearing mechanism to rotate; the slewing bearing mechanism is used for driving the manipulator to rotate; the rotating mechanism comprises an encoder and a chain wheel, and the encoder is coaxially connected with the chain wheel; the chain wheel is meshed with the slewing bearing mechanism, and the encoder is used for detecting the rotation angle of the mechanical arm. According to the device, the rotating angle of the manipulator can be indirectly fed back only by adding a set of rotating mechanism, and then accurate control over the hydraulic grabbing manipulator is achieved. 一种机械手装置，包括：驱动机构、回转支承机构、旋转机构和机械手平台；所述驱动机构、回转支承机构和旋转机构均安装于所述机械手平台上；所述驱动机构驱动所述回转支承机构转动；所述回转支承机构用于带动机械手转动；所述旋转机构包括编码器和链轮，所述编码器与所述链轮同轴连接；所述链轮与所述回转支承