The invention discloses a PCB transfer robot with a rotary actuation tail end. The PCB transfer robot comprises a base body, a waist rotary part pivoted on the base body, a big arm pivoted on the waist rotary part, a small arm pivoted on the big arm and a manipulator mounted on the small arm, wherein the waist rotary part rotates around the base body; the big arm rotates around the waist rotary part; the small arm rotates around the big arm; the manipulator comprises a pair of sucker sets and a driving mechanism used for driving the pair of sucker sets to rotate; and the driving mechanism comprises a base, a rotary component, a rotary driving device and a lock catch component. The driving mechanism which performs annular circumferential movement can relieve restraint of the lock catch component on the rotary component, and drive the rotary component to rotate by 180 degrees, and the pair of suckers rotates by 180 degrees along with the rotary component. The driving mechanism can enable the two suckers on the manipulator to accurately rotate by 180 degrees so as to bring convenience for the manipulator to accurately pick and place.