The invention discloses a layout structure of a three-axis linkage manipulator, including a rotating C axis, a linear Z axis, a linear X axis, a motor, a reducer, a rotary table, a C axis reducer, a column, a linear guide rail, and an auxiliary transmission conversion lead screw , arm connection block, arm system, arm bracket, rear arm, forearm, hand claw, it is characterized in that: the present invention adopts the three-axis linkage layout that adopts three-dimensional coordinates of the present invention, designs the direct stroke of the three-dimensional space of manipulator, adopts double gear The C-axis structure of the anti-backlash reduction box, the Z-axis and X-axis of the linear guide rail and the ball screw auxiliary transmission structure, the whole machine has a compact structure and high rigidity, which ensures high precision during high-speed operation, and realizes small action stroke and short action cycle of the manipulator. , low energy consumption and high efficiency. The deficiencies of the prior art are overcome.