The invention relates to a hinge device, comprising three revolute pairs in series, wherein axes of two connected revolute pairs of the three revolute pairs are vertical at a crossing point, and the axe of the other one revolute pair passes the crossing point of the mutually perpendicular axes, so that axes of the three revolute pairs pass through the crossing point in space to form a ZYZ Eulerian angle structure. In the invention, bearings and other standard components are used to enable three axes of the three revolute pairs to pass through the crossing point to realize motion separation, so as to realize space rotary motion with three degrees of freedom and have the advantages of simple structure and easy realization. The axes of the three revolute pairs pass through one crossing point in space by adjusting to realize the spherical hinge concentric rotation function and become one realization form of Eulerian angles. Compared with a common three serial revolute pairs rotating mechanism, concentric rotation is adopted in the invention, so the motion of the rotating mechanism is more flexible and has the advantages of high precision, accurate location, simple structure, etc. The invention can be applied to a robot to simplify control algorithm and enable solving to be easy, so the invention can be used in robots, machines and other processing devices.