CN204414102U - Cartesian robot - Google Patents

Abstract

The utility model provides a kind of Cartesian robot, comprises X-axis motion module, Y-axis motion module and Z axis motion module.X-axis motion module comprises X-axis linear electric motors, X-axis line slideway, connecting plate and column, and the mover of X-axis linear electric motors is connected with connecting plate, and the mover of X-axis linear electric motors drives column synchronously to move reciprocatingly along X-axis line slideway; Y-axis motion module is arranged on column; Y-axis motion module comprises Y-axis linear electric motors, Y-axis line slideway and slide, and the mover of Y-axis linear electric motors is connected with slide, and the mover of Y-axis linear electric motors drives slide synchronously to move reciprocatingly along Y-axis line slideway; Z axis motion module comprises YE and clamping device, and YE is arranged on slide, and YE drives clamping device synchronously to move reciprocatingly along Z axis.Cartesian robot of the present utility model, improves the speed of service and the positioning precision of this Cartesian robot.

Description

Cartesian robot

technical field

The utility model relates to the technical field of robots, in particular to a rectangular coordinate robot.

Background technique

A robot is a multi-joint or multi-degree-of-freedom automation device that integrates electronics, automation, computers, artificial intelligence, etc., and is aimed at industrial industries. Due to its flexible operation and high level of intelligence, the robot can meet the diversified needs of industrial products. However, the existing Cartesian coordinate robots have poor running speed and positioning accuracy and cannot meet the requirements of complex workflows. The expansion of each functional module Poor sex, etc.

Utility model content

In view of the status quo of the prior art, the purpose of this utility model is to provide a Cartesian coordinate robot, which can realize the movement of three degrees of freedom in space, and improves the running speed and positioning accuracy of the Cartesian coordinate robot.

In order to achieve the above object, the utility model adopts the following technical solutions:

A Cartesian robot comprising:

An X-axis motion module, the X-axis motion module includes an X-axis linear motor, an X-axis linear guide rail, a connecting plate and a column, and the X-axis linear guide rails are provided on both sides of the stator of the X-axis linear motor, Each of the X-axis linear guides is provided with a first slider, the connecting plate is erected on the first sliders of the two X-axis linear guides, and the column is fixed on the connecting plate , the mover of the X-axis linear motor is connected to the connecting plate, and the mover of the X-axis linear motor drives the connecting plate to reciprocate synchronously along the X-axis linear guide rail;

The Y-axis motion module, the Y-axis motion module is arranged on the column; the Y-axis motion module includes a Y-axis linear motor, a Y-axis linear guide rail and a sliding seat, and the stator of the Y-axis linear motor has two The Y-axis linear guide rails are provided on both sides, and each of the Y-axis linear guide rails is provided with a second slider, and the sliding seat is mounted on the second sliders of the two Y-axis linear guide rails. , the mover of the Y-axis linear motor is connected to the slider, and the mover of the Y-axis linear motor drives the slider to reciprocate synchronously along the Y-axis linear guide rail; and

Z-axis motion module, the Z-axis motion module includes an electric actuator and a clamping device, the electric actuator is installed on the slide, the clamping device is arranged on the electric actuator, the The electric actuator drives the clamping device to reciprocate synchronously along the Z axis.

In one of the embodiments, the number of the X-axis motion modules is two groups, namely the first X-axis motion module and the second X-axis motion module, the first X-axis motion module and the Parallel interval setting of the second X-axis motion module;

One end of the Y-axis motion module is mounted on the column of the first X-axis motion module, and the other end of the Y-axis motion module is mounted on the second X-axis motion module. On the column, the first X-axis motion module, the Y-axis motion module and the second X-axis motion module form a gantry frame.

In one of the embodiments, the X-axis motion module further includes a first base and a second base, and the sections of the first base and the second base are U-shaped;

The stator of the X-axis linear motor of the first X-axis motion module is arranged in the first base, and the X-axis linear guide rails of the first X-axis motion module are respectively arranged on the first base; The stator of the X-axis linear motor of the second X-axis motion module is arranged in the second base, and the X-axis linear guide rails of the second X-axis motion module are respectively arranged on the second base.

In one of the embodiments, the Y-axis motion module further includes a crossbeam, and the beam is horizontally erected on the column of the first X-axis motion module and the poles of the second X-axis motion module. on the upright;

The section of the beam is also U-shaped, the stator of the Y-axis linear motor is placed in the beam, and the Y-axis linear guide is placed on the beam.

In one of the embodiments, the X-axis motion module further includes an X-axis drag chain and a first drag chain bracket; the X-axis drag chain is arranged on one side of the X-axis linear guide rail, and the X-axis The drag chain is connected to the connecting plate through the first drag chain bracket.

In one of the embodiments, the Y-axis linear motor is an axial linear motor with two movers, and the two movers are respectively a first mover and a second mover;

The number of the sliding seats is two, which are respectively the first sliding seat and the second sliding seat;

The first slider is connected with the first mover of the Y-axis linear motor, and the first mover drives the first slider to reciprocate synchronously along the Y-axis linear guide rail; the second The sliding seat is connected with the second mover of the Y-axis linear motor, and the second mover drives the second sliding seat to reciprocate synchronously along the Y-axis linear guide rail.

In one of the embodiments, a proximity switch is installed on the first sliding seat and/or the second sliding seat.

In one of the embodiments, the Y-axis movement module further includes a Y-axis towline and a second towline bracket, and the Y-axis towline and the second towline bracket are provided in one-to-one correspondence;

The number of the Y-axis drag chains is two, and the two Y-axis drag chains are respectively arranged on one side of the Y-axis linear guide rail; one of the Y-axis drag chains is connected through the second drag chain bracket To the first sliding seat, another Y-axis drag chain is connected to the second sliding seat through the second drag chain bracket.

In one of the embodiments, the number of the Z-axis motion modules is also two groups, namely the first Z-axis motion module and the second Z-axis motion module;

The first Z-axis motion module is mounted on the first slide, and the second Z-axis motion module is mounted on the second slide.

In one of the embodiments, it also includes a grating ruler and a limit switch;

Both the X-axis linear guide rail and the Y-axis linear guide rail are provided with the grating ruler;

Both ends of the X-axis linear guide are provided with the limit switches, and both ends of the Y-axis linear guide are provided with the limit switches.

The beneficial effects of the utility model are:

The Cartesian coordinate robot of the utility model can realize the movement of three degrees of freedom in space, and is driven by a linear motor in the X-axis direction and the Y-axis direction, and is equipped with a grating ruler as a position detection feedback, which improves the The running speed and positioning accuracy of the Cartesian robot.

Description of drawings

Fig. 1 is the perspective view of an embodiment of the Cartesian coordinate robot of the present utility model;

Fig. 2 is the front view of the rectangular coordinate robot shown in Fig. 1;

Fig. 3 is the top view of the rectangular coordinate robot shown in Fig. 1;

Fig. 4 is a side view of the Cartesian robot shown in Fig. 1 .

Detailed ways

In order to make the technical solution of the utility model clearer, the Cartesian coordinate robot of the utility model will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the utility model and are not intended to limit the utility model.

Referring to Fig. 1 to Fig. 4, as shown in Fig. 1, the Cartesian coordinate robot of one embodiment of the present invention includes an X-axis motion module 1, a Y-axis motion module 2 and a Z-axis motion module 3, and the X-axis motion The module 1, the Y-axis motion module 2 and the Z-axis motion module 3 are arranged perpendicular to each other, so that the Cartesian robot can realize three degrees of freedom of motion.

Wherein, the X-axis motion module 1 includes an X-axis linear motor, an X-axis linear guide rail, a connecting plate and a column. Both sides of the stator of the X-axis linear motor are provided with X-axis linear guide rails, and each X-axis linear guide rail is provided with a first slider, which is slidably connected to the track of the corresponding X-axis linear guide rail. In this embodiment, in order to achieve stability and balance of installation, two first sliders are arranged on each X-axis linear guide rail.

The connecting plate is erected on the first sliders of the two X-axis linear guides, that is, one end of the connecting plate is fixedly connected to the two first sliders on one of the X-axis linear guides, and the other end of the connecting plate is connected to the other X-axis linear guide. The two first sliders on the linear guide rail are fixedly connected, so that the force on the connecting plate is balanced, and the reliability during the movement is guaranteed. The column is fixed on the connecting plate, and the connecting plate is connected with the mover of the X-axis linear motor. The mover of the X-axis linear motor drives the connecting plate to slide along the X-axis linear guide rail, thereby driving the column to reciprocate synchronously along the X-axis linear guide rail, realizing Movement in the X-axis direction.

The Y-axis motion module 2 is arranged on the column, so that the Y-axis motion module 2 can move along the X-axis direction at the same time. In this embodiment, the Y-axis motion module 2 includes a Y-axis linear motor 22 , a Y-axis linear guide rail 23 and a sliding seat. Both sides of the stator of the Y-axis linear motor 22 are provided with Y-axis linear guide rails 23, and each Y-axis linear guide rail 23 is provided with a second slider, which is slidingly connected to the track of the corresponding Y-axis linear guide rail 23. .

The sliding seat is mounted on the second slider of the two Y-axis linear guide rails 23, that is, one end of the sliding seat is fixed on the second slider on one of the Y-axis linear guide rails 23, and the other end of the sliding seat is fixed on the other Y-axis linear guide rail 23. On the second slider on the shaft linear guide rail 23. The mover of the Y-axis linear motor 22 is connected with the sliding seat, and the mover of the Y-axis linear motor 22 drives the sliding seat to reciprocate synchronously along the Y-axis linear guide rail 23 to realize the movement in the Y-axis direction.

Driven by linear motors in the X-axis direction and the Y-axis direction, the Cartesian coordinate robot can quickly and accurately execute various complex work processes, and the running speed and positioning accuracy of the Cartesian coordinate robot are improved. Both the X-axis linear guide rail and the Y-axis linear guide rail in this embodiment adopt a dust-proof design, which can effectively prevent iron filings and other sundries from entering the guide rails and linear motors, ensuring the safe and reliable operation of the Cartesian robot.

The Z-axis movement module 3 is installed on the sliding seat, and the Z-axis movement module 3 includes an electric actuator and a clamping device 4, wherein the electric actuator is installed on the sliding seat so that the electric actuator can move along the X-axis and the Y-axis simultaneously. reciprocating motion in axial direction. The clamping device 4 is arranged on the electric actuator, and the electric actuator drives the clamping device 4 to synchronously reciprocate up and down along the Z-axis direction, thereby realizing the movement in the Z-axis direction.

Wherein, the clamping device 4 is preferably an electric gripper, and the electric gripper has functions such as belt drop prevention, clamping confirmation, self-locking, workpiece size recognition, loading and unloading detection, and the like. In the actual use process, the gripping of workpieces of different shapes can be achieved by changing the model of the electric gripper. Moreover, by using electric grippers instead of the original mechanical actuators (such as mechanical grippers, etc.), the clamping force can be regulated in real time according to actual needs, which improves the reliability of gripping and ensures that the workpiece is not damaged . In the process of use, the built-in motor of the electric gripper can drive the opening and closing of the clamping device, so as to realize the grabbing of ground workpieces.

The electric actuator in this embodiment can be a driving device such as an electric cylinder, including a stepping motor, a synchronous toothed belt and a ball screw pair; the stepping motor drives the synchronous toothed belt to rotate, and the synchronous toothed belt drives the ball screw pair Do up and down reciprocating motion along the Z axis, convert the rotary motion of the stepper motor into the linear motion of the ball screw pair. Compared with traditional linear motion devices such as rack and pinion drives, electric actuators have the characteristics of fast response time, and can accurately control parameters such as speed, position, and thrust through a feedback system, improving control accuracy.

In order to meet the needs of various working conditions, the X-axis motion module 1, the Y-axis motion module 2 and the Z-axis motion module 3 can work independently, or they can work together through simple program control. According to specific working conditions, the Cartesian robot of the present invention can be a cantilever type or a gantry type.

As a possible implementation, the number of X-axis motion modules 1 is two groups, which are respectively the first X-axis motion module and the second X-axis motion module, and the first X-axis motion module and the second X-axis motion module Movement module parallel interval setting. That is, there are two X-axis linear motors, namely the first X-axis linear motor 11 and the second X-axis linear motor 12 , and the first X-axis linear motor 11 and the second X-axis linear motor 12 are arranged in parallel and spaced apart. The X-axis linear guide rail includes a first X-axis linear guide rail 13 and a second X-axis linear guide rail 14 , and the first X-axis linear guide rail 13 is arranged on both sides of the first X-axis linear motor 11 .

The mover of the first X-axis linear motor 11 drives the connecting plate on the first X-axis motion module to move, thereby driving the column 17 on the first X-axis motion module to reciprocate synchronously back and forth along the first X-axis linear guide rail 13 . The second X-axis linear guide rail 14 is arranged on both sides of the second X-axis linear motor 12, and the mover of the second X-axis linear motor 12 drives the connecting plate on the second X-axis motion module to move, so that the second X-axis moves The column 18 on the module can reciprocate back and forth synchronously along the second X-axis linear guide rail 14 .

One end of the Y-axis motion module 2 is erected on the column 17 of the first X-axis motion module, and the other end of the Y-axis motion module is erected on the column 18 of the second X-axis motion module. The first X-axis motion module, the Y-axis motion module 2 and the second X-axis motion module form a gantry frame, which has a simple structure, convenient assembly and maintenance, and strong expandability. In this embodiment, the first X-axis linear motor 11 and the second X-axis linear motor 12 can move synchronously through simple program control, so as to realize the overall movement of the gantry frame in the X-axis direction.

Preferably, the X-axis movement module 1 further includes a first base 15 and a second base 16 , and the first base 15 and the second base 16 are U-shaped in section. The stator of the X-axis linear motor of the first X-axis motion module is arranged in the first base 15 , and the X-axis linear guide rails of the first X-axis motion module are respectively arranged on the first base 15 . That is, the first X-axis linear guide rail 13 is arranged on the first base 15, and the stator of the first X-axis linear motor 11 is arranged in the first base 15. Preferably, the stator of the first X-axis linear motor 11 is placed on the first base In the U-shaped groove of 15 , the first X-axis linear guide rail 13 is arranged on the edge of the U-shaped groove of the first base 15 .

Correspondingly, the stator of the X-axis linear motor of the second X-axis motion module is disposed in the second base 16 , and the X-axis linear guide rails of the second X-axis motion module are respectively disposed on the second base 16 . That is, the second X-axis linear guide rail 12 is arranged on the second base 16, and the stator of the second X-axis linear motor 12 is arranged in the second base 16. Preferably, the stator of the second X-axis linear motor 12 is placed on the second base In the U-shaped groove of 16 , the second X-axis linear guide rail 14 is arranged on the edge of the U-shaped groove of the second base 16 .

Of course, in other embodiments, the working length of the Cartesian robot in the X-axis direction can be extended by increasing the number of the first base 15 and the second base 16 . It is also possible to increase the number of gantry frames on the first base 15 and the second base 16 to realize the cooperative work of more clamping devices, that is, correspondingly increase the number of columns, Y-axis motion modules and Z-axis motion modules to achieve more Complex workflow.

As a possible implementation, the Y-axis motion module 2 further includes a beam 21 , and the beam 21 is horizontally erected on the column 17 of the first X-axis motion module and the column 18 of the second X-axis motion module. The cross-section of the beam 21 is also U-shaped, the stator of the Y-axis linear motor 22 is placed in the beam 21 , and the Y-axis linear guide rails 23 are respectively arranged on the beam 21 . Preferably, the stator of the Y-axis linear motor 22 is placed in the U-shaped groove of the beam 21 , and the Y-axis linear guide rails 23 are respectively arranged on the edges of the U-shaped groove of the beam 21 . In this way, the stability and reliability of the movement of the Y-axis linear motor and the Y-axis linear guide rail are ensured.

In order to simplify the machining process of the rectangular coordinate robot, the first base 15, the second base 16 and the beam 21 in this embodiment adopt the same structural design. Moreover, the base and beam are made of high-strength aluminum alloy profiles through cutting, which has good shock resistance and ensures the reliability of the operation of each movement module.

Preferably, the Y-axis linear motor 22 is an axial linear motor with two movers, and the two movers are respectively a first mover and a second mover. There are two slide seats, and the two slide seats are the first slide seat 24 and the second slide seat 25 respectively. In order to effectively fix the sliding seat, in this embodiment, each Y-axis linear guide rail 23 is provided with two second sliders, and the second sliders are slidably connected to the corresponding Y-axis linear guide rail. That is, each sliding seat is connected to two second sliding blocks at the same time, so as to ensure the stability and balance of the running of the sliding seat.

Wherein, one end of the first sliding seat 24 is fixed on the second slider of one of the Y-axis linear guide rails 23, and the other end of the first sliding seat 24 is fixed on the second slider of the other Y-axis linear guide rail 23, and The first sliding seat 24 is connected with the first mover of the Y-axis linear motor 22 , and the first mover of the Y-axis linear motor 22 drives the first sliding seat 24 to reciprocate synchronously along the Y-axis linear guide rail 23 .

One end of the second slider 25 is fixed on the second slider of one of the Y-axis linear guides 23, and the other end of the second slider 25 is fixed on the second slider of the other Y-axis linear guide 23, and the second The sliding seat 25 is connected with the second mover of the Y-axis linear motor 22, and the second mover of the Y-axis linear motor 22 drives the second sliding seat 25 to reciprocate synchronously along the Y-axis linear guide rail.

As a possible implementation, the number of Z-axis motion modules 3 is two groups, which are the first Z-axis motion module and the second Z-axis motion module. That is to say, there are two electric actuators, namely the first electric actuator 31 and the second electric actuator 32, and the clamping device 4 is provided in one-to-one correspondence with the electric actuators, that is, the number of the clamping device 4 is also two. , one of the clamping devices 4 is installed on the first electric actuator 31, and the other clamping device 4 is installed on the second electric actuator 32, and the electric actuator drives the clamping device 4 to reciprocate up and down in the Z-axis direction .

The first Z-axis movement module is installed on the first sliding seat 24 , that is, the first electric actuator 31 is installed on the first sliding seat 24 . The second Z-axis motion module is installed on the second sliding seat 25 , that is, the second electric actuator 32 is installed on the second sliding seat 25 . In this way, the first mover of the Y-axis linear motor 22 drives the first sliding seat 24 to move in the Y-axis direction, so that the first electric actuator 31 and the clamping device 4 installed on the first electric actuator 31 can move in the direction of the Y-axis. Do left and right reciprocating motion in the Y axis direction. The second mover of the Y-axis linear motor 22 drives the second sliding seat 25 to move in the Y-axis direction, so that the second electric actuator 32 and the clamping device 4 installed on the second electric actuator 32 can move in the Y-axis direction. Do left and right reciprocating motions in the direction.

In this embodiment, the two clamping devices 4 can work independently or in cooperation. When the two clamping devices 4 need to work together to complete complex work, the cooperative work of the two clamping devices can be realized through simple program control, thereby improving work efficiency and control precision. Of course, the number of clamping devices 4 is not limited to two, and can be expanded according to the needs of the actual working environment, and a more complicated work flow can be realized by setting more than two clamping devices.

Preferably, a proximity switch 33 is mounted on the first sliding seat 24 and/or the second sliding seat 25 . The proximity switch 33 may be a photoelectric proximity switch, a Hall-type proximity switch, or a passive proximity switch. When the distance between the first sliding seat 24 and the second sliding seat 25 reaches the operating distance of the proximity switch 33, the proximity switch 33 acts, thereby avoiding the collision of the two clamping devices 4 and ensuring the reliability of the movement.

Preferably, a grating ruler 5 and a limit switch 6 are also included. Both the X-axis linear guide rail and the Y-axis linear guide rail 23 are provided with a grating scale 5, and the grating scale 5 is used as a position feedback signal to improve motion accuracy and positioning accuracy. Both ends of the X-axis linear guide rail are provided with limit switches 6 , and both ends of the Y-axis linear guide rail 22 are provided with limit switches 6 . This can prevent the mover of the X-axis linear motor from slipping off the X-axis linear guide rail and the mover of the Y-axis linear motor from slipping off the Y-axis linear guide rail, ensuring the reliability and safety of the movement. As a further improvement, a hard limit structure is provided at both ends of the X-axis linear guide rail and both ends of the Y-axis linear guide rail. The hard limit structure can be a baffle or the like, thereby further improving the reliability of the movement.

Preferably, the X-axis motion module 1 also includes an X-axis drag chain 7 and a first drag chain bracket, the X-axis drag chain 7 is arranged on one side of the X-axis linear guide rail, and the X-axis drag chain 7 passes through the support and the connecting plate connected so that the X-axis drag chain 7 can move with the X-axis linear motor mover in the X-axis direction.

The Y-axis motion module 2 also includes a Y-axis drag chain 8 and a second drag chain support, and the Y-axis drag chain 8 and the second drag chain support are provided in one-to-one correspondence. There are two Y-axis drag chains 8 , and the two Y-axis drag chains 8 are respectively arranged on one side of the Y-axis linear guide rail 23 . One of the Y-axis towlines 8 is connected to the first sliding seat 24 through the second towline bracket, so that the Y-axis towline 8 can move with the first mover of the Y-axis linear motor 22 in the Y-axis direction. Another Y-axis towline 8 is connected to the second sliding seat 25 through the towline bracket, so that the Y-axis towline 8 can move with the second mover of the Y-axis linear motor 22 in the Y-axis direction.

During the working process of the Cartesian robot, components such as power lines, encoder lines, motor brake lines and signal acquisition lines are stored in the drag chain, which can prevent the wires from being entangled and affecting the normal operation of the Cartesian robot. Moreover, the X-axis drag chain 7 can move with the movement of the mover of the X-axis linear motor, and the Y-axis drag chain 8 can move with the movement of the mover of the Y-axis linear motor, which is easy to operate and easy to protect the circuit.

The following are the main technical parameters of the Cartesian robot of the present utility model:

(1) Travel and positioning accuracy of each axis

The stroke of the X axis is 760mm, and the positioning accuracy is ±0.05mm;

The stroke of the Y axis is 818mm, and the positioning accuracy is ±0.05mm;

The stroke of the Z axis is 200mm, and the positioning accuracy is ±0.1mm.

(2) The maximum operating speed of each axis

The maximum running speed of the X axis is 1m/s;

The maximum running speed of the Y axis is 2m/s;

The maximum running speed of the Z axis is 250mm/s.

(3) The clamping device grabs the weight of the workpiece:

The clamping device can grab the workpiece with a maximum weight of 5kg±0.5kg.

The Cartesian coordinate robot of the utility model can realize the movement of three degrees of freedom in space, and is driven by a linear motor in the X-axis direction and the Y-axis direction, which improves the running speed and positioning accuracy of the Cartesian coordinate robot .

The above-mentioned embodiments only express several implementations of the utility model, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the patent scope of the utility model. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the scope of protection of the utility model patent should be based on the appended claims.

Claims (10)

1. A Cartesian robot, characterized in that, comprising: An X-axis motion module, the X-axis motion module includes an X-axis linear motor, an X-axis linear guide rail, a connecting plate and a column, and the X-axis linear guide rails are provided on both sides of the stator of the X-axis linear motor, Each of the X-axis linear guides is provided with a first slider, the connecting plate is erected on the first sliders of the two X-axis linear guides, and the column is fixed on the connecting plate , the mover of the X-axis linear motor is connected to the connecting plate, and the mover of the X-axis linear motor drives the connecting plate to reciprocate synchronously along the X-axis linear guide rail; The Y-axis motion module, the Y-axis motion module is arranged on the column; the Y-axis motion module includes a Y-axis linear motor, a Y-axis linear guide rail and a sliding seat, and the stator of the Y-axis linear motor has two The Y-axis linear guide rails are provided on both sides, and each of the Y-axis linear guide rails is provided with a second slider, and the sliding seat is mounted on the second sliders of the two Y-axis linear guide rails. , the mover of the Y-axis linear motor is connected to the slider, and the mover of the Y-axis linear motor drives the slider to reciprocate synchronously along the Y-axis linear guide rail; and Z-axis motion module, the Z-axis motion module includes an electric actuator and a clamping device, the electric actuator is installed on the slide, the clamping device is arranged on the electric actuator, the The electric actuator drives the clamping device to reciprocate synchronously along the Z axis. 2. Cartesian coordinate robot according to claim 1, is characterized in that, the quantity of described X-axis motion module is two groups, is respectively the first X-axis motion module and the second X-axis motion module, described The first X-axis motion module is arranged in parallel with the second X-axis motion module; One end of the Y-axis motion module is mounted on the column of the first X-axis motion module, and the other end of the Y-axis motion module is mounted on the second X-axis motion module. On the column, the first X-axis motion module, the Y-axis motion module and the second X-axis motion module form a gantry frame. 3. The Cartesian robot according to claim 2, wherein the X-axis motion module further comprises a first base and a second base, and the sections of the first base and the second base are U-shaped ; The stator of the X-axis linear motor of the first X-axis motion module is arranged in the first base, and the X-axis linear guide rails of the first X-axis motion module are respectively arranged on the first base; The stator of the X-axis linear motor of the second X-axis motion module is arranged in the second base, and the X-axis linear guide rails of the second X-axis motion module are respectively arranged on the second base. 4. The Cartesian robot according to claim 2, wherein the Y-axis movement module further comprises a crossbeam, and the crossbeam is horizontally erected on the column and the first X-axis movement module. on the column of the second X-axis motion module; The section of the beam is also U-shaped, the stator of the Y-axis linear motor is placed in the beam, and the Y-axis linear guide rails are respectively arranged on the beam. 5. The Cartesian robot according to claim 1, wherein the X-axis motion module also includes an X-axis drag chain and a first drag chain support; the X-axis drag chain is arranged on the X-axis straight line One side of the guide rail, and the X-axis drag chain is connected to the connecting plate through the first drag chain bracket. 6. The rectangular coordinate robot according to claim 1, wherein the Y-axis linear motor is an axial linear motor with two movers, and the two movers are respectively a first mover and a second mover ; The number of the sliding seats is two, which are respectively the first sliding seat and the second sliding seat; The first slider is connected with the first mover of the Y-axis linear motor, and the first mover drives the first slider to reciprocate synchronously along the Y-axis linear guide rail; the second The sliding seat is connected with the second mover of the Y-axis linear motor, and the second mover drives the second sliding seat to reciprocate synchronously along the Y-axis linear guide rail. 7 . The rectangular coordinate robot according to claim 6 , wherein a proximity switch is installed on the first sliding seat and/or the second sliding seat. 8. The Cartesian robot according to claim 6, wherein the Y-axis motion module also includes a Y-axis drag chain and a second drag chain support, and the Y-axis drag chain and the second drag chain Support one-to-one corresponding setting; The number of the Y-axis drag chains is two, and the two Y-axis drag chains are respectively arranged on one side of the Y-axis linear guide rail; one of the Y-axis drag chains is connected through the second drag chain bracket To the first sliding seat, another Y-axis drag chain is connected to the second sliding seat through the second drag chain bracket. 9. The Cartesian robot according to claim 6, wherein the number of the Z-axis motion modules is also two groups, which are respectively the first Z-axis motion module and the second Z-axis motion module; The first Z-axis motion module is mounted on the first slide, and the second Z-axis motion module is mounted on the second slide. 10. The rectangular coordinate robot according to any one of claims 1-9, further comprising a grating ruler and a limit switch; Both the X-axis linear guide rail and the Y-axis linear guide rail are provided with the grating ruler; Both ends of the X-axis linear guide are provided with the limit switches, and both ends of the Y-axis linear guide are provided with the limit switches.