The invention discloses a horizontal rotating cradle head based on a crossed roller bearing. The horizontal rotating cradle head comprises a bearing plate, a flange coupling, the cross roller bearing,a bearing connecting frame, an upper supporting seat, a motor fixing plate, a lower supporting seat, a machine frame and a motor which are sequentially arranged from top to bottom, wherein the bearing connecting frame, the upper supporting seat, the motor fixing plate and the lower supporting seat are fixed on the machine frame through bolts, and the motor penetrates through a center hole of themachine frame and is fixed to a bottom surface of the motor fixing plate; and an outer ring of the cross roller bearing is fixed in the middle of the bearing connecting frame, the upper surface of theflat cylindrical part of the flange coupling is connected with the bearing plate through a bolt, the fine cylindrical barrel part of the flange coupling extends into the central hole of the inner ring of the crossed roller bearing and is connected with a motor shaft, and the lower surface of the flat cylindrical part is tightly attached to the upper surface of the inner ring of the crossed rollerbearing. The horizontal rotating cradle head has the advantages that structure is simple, the size is small, the required parts are few, the bearing load is large, and the horizontal rotating cradlehead is suitable for horizontal rotating parts with large axial loads of robots.