A tri-axial robot

Abstract

The application discloses a three-axis robot, a base plate, a first guide unit extending along a first direction, a first sliding seat, a first driving member for driving the first sliding seat to move along the first direction, a second guide unit extending along a second direction, a second sliding seat, a second driving member for driving the second sliding seat to move along the second direction, a third guide unit extending along a third direction, the first direction, the second direction and the third direction being perpendicular to each other, a third sliding seat, and a third driving member for driving the third sliding seat to move along the third direction. Compared with the prior art, the first guide unit and the first driving member are arranged on the base plate, the second guide unit and the second driving member are arranged on the first sliding seat, and the third guide unit and the third driving member are arranged on the second sliding seat, so that the three-axis robot has a compact structure, high rigidity and small space occupation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a three-axis robot. BACKGROUND

[0002] The existing three-axis robot structure is mainly composed of an orthogonal three-axis structure in which three three-axis robots or single-axis motion modules are directly assembled together, and the structure is not compact and occupies a large space. SUMMARY

[0003] The present application aims to provide a three-axis robot to solve the technical problems in the prior art.

[0004] The present application provides a three-axis robot, comprising:

[0005] a base plate;

[0006] a first guide unit, the first guide unit being arranged on the base plate and extending along a first direction;

[0007] a first sliding seat, the first sliding seat being connected with the first guide unit to form a guide cooperation;

[0008] a first driving member, the first driving member being arranged on the base plate, and an output end of the first driving member being connected with the first sliding seat to drive the first sliding seat to move along the first direction;

[0009] a second guide unit, the second guide unit being arranged on the first sliding seat and extending along a second direction;

[0010] a second sliding seat, the second sliding seat being connected with the second guide unit to form a guide cooperation;

[0011] a second driving member, the second driving member being arranged on the first sliding seat, and an output end of the second driving member being connected with the second sliding seat to drive the second sliding seat to move along the second direction;

[0012] a third guide unit, the third guide unit being arranged on the second sliding seat and extending along a third direction, the first direction, the second direction and the third direction being perpendicular to each other in pairs;

[0013] a third sliding seat, the third sliding seat being connected with the third guide unit to form a guide cooperation;

[0014] a third driving member, the third driving member being arranged on the second sliding seat, and an output end of the third driving member being connected with the third sliding seat to drive the third sliding seat to move along the third direction.

[0015] The three-axis robot as claimed in claim 1, wherein the first driving member comprises a first driving motor, a first fixed base, a first driving screw rod, a first screw rod nut, a first bearing seat and a first coupling, the first fixed base is arranged on the base plate, the first driving motor is fixed on the first fixed base, an output shaft of the first driving motor is connected with the first driving screw rod through the first coupling, the first driving screw rod is rotatably supported on the first bearing seat, the first screw rod nut is threadedly connected with the first driving screw rod, and the first sliding base is fixedly connected with the first screw rod nut.

[0016] The three-axis robot as claimed in claim 1, wherein the first fixed base is internally provided with a first accommodating cavity, the first accommodating cavity is provided with a first opening on a first side wall of the first fixed base, at least part of the first sliding base extends into the first accommodating cavity through the first opening, the first accommodating cavity is provided with a first through hole on a second side wall of the first fixed base, the first bearing seat is arranged in the first through hole, and the first driving motor is fixed on an outer wall surface of the second side wall.

[0017] The three-axis robot as claimed in claim 1, wherein the second driving member comprises a second driving motor, a second driving screw rod, a second screw rod nut, a second bearing seat and a second coupling, the second driving motor is fixed on the first sliding base, an output shaft of the second driving motor is connected with the second driving screw rod through the second coupling, the second driving screw rod is rotatably supported on the second bearing seat, the second screw rod nut is threadedly connected with the second driving screw rod, and the second sliding base is fixedly connected with the second screw rod nut.

[0018] The three-axis robot as claimed in claim 1, wherein the first sliding base is internally provided with a second accommodating cavity, the second driving motor is fixed on a top portion of the first sliding base, the second driving screw rod and the second screw rod nut are accommodated in the second accommodating cavity, a first side wall of the second accommodating cavity is provided with a second opening, the second guide unit is arranged on an outer wall surface of the first side wall of the second accommodating cavity, a connecting block is arranged on the second screw rod nut, the connecting block is connected with the third sliding base after penetrating through the second opening, a second side wall of the second accommodating cavity is provided with a second through hole, and the first screw rod nut is fixed in the second through hole.

[0019] A three-axis robot as described above, preferably, the third driving member comprises a third driving motor arranged on the second sliding base, a third driving screw rod, a third screw rod nut, a third bearing seat and a third coupling, the output shaft of the third driving motor is connected with the third driving screw rod through the third coupling, the third driving screw rod is rotatably supported on the third bearing seat, and the third screw rod nut is threadedly connected with the third driving screw rod.

[0020] A three-axis robot as described above, preferably, the third driving motor is fixed on the top of the second sliding base, the output shaft of the third driving motor extends along the second direction, an adapter block is fixed on the third screw rod nut, a fourth guiding unit is arranged on the second sliding base, a fifth guiding unit is arranged on the third sliding base, the fourth guiding unit and the fifth guiding unit are connected with the adapter block, the fourth guiding unit extends along the second direction, and the fifth guiding unit extends along a fourth direction, the fourth direction and the third direction form a preset included angle.

[0021] A three-axis robot as described above, preferably, a third accommodating cavity is arranged in the second sliding base, and the third driving screw rod, the third screw rod nut, the adapter block and the fourth guiding unit are accommodated in the third accommodating cavity.

[0022] A three-axis robot as described above, preferably, the first guiding unit, the second guiding unit, the third guiding unit, the fourth guiding unit and the fifth guiding unit are cross rail pairs or linear rail pairs.

[0023] A three-axis robot as described above, preferably, the starting end of the moving path of the first sliding base, the second sliding base and the third sliding base is provided with a zero reset switch, and the tail end of the moving path of the first sliding base, the second sliding base and the third sliding base is provided with a limit switch.

[0024] Compared with the prior art, the first guiding unit and the first driving member are arranged on the base plate, the second guiding unit and the second driving member are arranged on the first sliding base, and the third guiding unit and the third driving member are arranged on the second sliding base, so that the three-axis robot has a compact overall structure, high rigidity and small space occupation. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a perspective view of the overall structure of the present application;

[0026] Figure 2 is a top view of the overall structure of the present application;

[0027] Figure 3 is Figure 2 an A-A sectional view of the application;

[0028] Figure 4 is an exploded structural schematic diagram of the overall structure of the application.

[0029] Explanation of reference signs:

[0030] 100 - substrate;

[0031] 200 - first guide unit;

[0032] 300 - first sliding base, 301 - second accommodating cavity, 302 - second opening, 303 - second through hole;

[0033] 400 - first driving member, 401 - first driving motor, 402 - first fixing seat, 403 - first driving screw, 404 - first screw nut, 405 - first bearing seat, 406 - first coupling, 407 - first accommodating cavity, 408 - first opening, 409 - first through hole;

[0034] 500 - second guide unit;

[0035] 600 - second sliding base, 601 - third accommodating cavity;

[0036] 700 - second driving member, 701 - second driving motor, 702 - second driving screw, 703 - second screw nut, 704 - second bearing seat, 705 - second coupling, 706 - connecting block;

[0037] 800 - third guide unit;

[0038] 900 - third sliding base;

[0039] 1000 - third driving member, 1001 - third driving motor, 1002 - third driving screw, 1003 - third screw nut, 1004 - third bearing seat, 1005 - third coupling, 1006 - adapter block, 1007 - fourth guide unit, 1008 - fifth guide unit;

[0040] 1100 - zero reset switch;

[0041] 1200 - limit switch;

[0042] D1 - first direction, D2 - second direction, D3 - third direction. DETAILED DESCRIPTION

[0043] The embodiments described below with reference to the drawings are exemplary and are only used to explain the application and cannot be explained as a limitation of the application.

[0044] Referring to Figures 1 to 4 As shown in the drawings, the present application provides a three-axis robot, comprising:

[0045] A substrate 100, the substrate 100 is a horizontally extended flat plate structure, as a load-bearing and installation base of the three-axis robot.

[0046] A first guide unit 200, the first guide unit 200 is arranged on the substrate 100, the first guide unit 200 extends along a first direction D1, in an available embodiment, the plane where the first direction D1 is located is a horizontal plane.

[0047] A first sliding seat 300, the bottom end of the first sliding seat 300 is connected with the first guide unit 200 to form a guide cooperation, the first guide unit 200 plays a role of limiting and guiding, so that the first sliding seat 300 can only move along the first direction D1.

[0048] A first driving member 400, the first driving member 400 is arranged on the substrate 100, the output end of the first driving member 400 is connected with the first sliding seat 300, so as to drive the first sliding seat 300 to move along the first direction D1.

[0049] A second guide unit 500, the second guide unit 500 is arranged at the side end of the first sliding seat 300, the second guide unit 500 extends along a second direction D2, the plane where the second direction D2 is located is a vertical plane.

[0050] A second sliding seat 600, the side end of the second sliding seat 600 is connected with the second guide unit 500 to form a guide cooperation, the second guide unit 500 plays a role of limiting and guiding, so that the second sliding seat 600 can only move along the second direction D2.

[0051] A second driving member 700, the second driving member 700 is arranged on the first sliding seat 300, the output end of the second driving member 700 is connected with the second sliding seat 600, so as to drive the second sliding seat 600 to move along the second direction D2.

[0052] A third guide unit 800, the third guide unit 800 is arranged at the side end of the second sliding seat 600, the third guide unit 800 extends along a third direction D3, the first direction D1, the second direction D2 and the third direction D3 are all perpendicular to each other, the first direction D1, the second direction D2 and the third direction D3 respectively constitute three coordinate axes of a three-dimensional coordinate system, for example, the first direction D1 is an X-axis extension direction, the second direction D2 is a Z-axis extension direction, and the third direction D3 is a Y-axis extension direction.

[0053] The third sliding seat 900 is connected with the third guide unit 800 to form a guide cooperation, the third guide unit 800 plays a role of limiting and guiding, so that the third sliding seat 900 can only move along the third direction D3, and an end effector (not shown) is arranged on the third sliding seat 900, in an available implementation, the second sliding seat 600 is provided with an output adapter unit, the output adapter unit is used for connecting the end effector, and different types of end effectors can be adapted by replacing the output adapter unit.

[0054] The third driving member 1000 is arranged on the second sliding seat 600, and an output end of the third driving member 1000 is connected with the third sliding seat 900, so as to drive the third sliding seat 900 to move along the third direction D3.

[0055] Based on the above embodiment, the working process of the application is as follows:

[0056] The first driving member 400 works to drive the first sliding seat 300 to move along the first direction D1, so that the end effector on the third sliding seat 900 moves to a preset position on the first direction D1, the second driving member 700 works to drive the second sliding seat 600 to move along the second direction D2, so that the end effector on the third sliding seat 900 moves to a preset position on the second direction D2, and the third driving member 1000 works to drive the third sliding seat 900 to move along the third direction D3, so that the end effector on the third sliding seat 900 moves to a preset position on the third direction D3, finally, the end effector can be independently moved on the three axis directions.

[0057] By arranging the first guide unit 200 and the first driving member 400 on the base plate 100, the second guide unit 500 and the second driving member 700 on the first sliding seat 300, and the third guide unit 800 and the third driving member 1000 on the second sliding seat 600, the overall structure of the three-axis robot is compact and has high rigidity, and the space occupation is small.

[0058] In the embodiments provided in the application, reference is made to Figure 3As shown, the first driving member 400 comprises a first driving motor 401, a first fixed seat 402, a first driving screw rod 403, a first screw rod nut 404, a first bearing seat 405 and a first coupling 406. The first fixed seat 402 is arranged on the base plate 100. The first driving motor 401 is fixed on the first fixed seat 402. In order to make the first driving motor 401 operate accurately and stably, the first driving motor 401 is preferably a servo motor. The output shaft of the first driving motor 401 is connected with the first driving screw rod 403 through the first coupling 406. The first driving screw rod 403 is rotatably supported on the first bearing seat 405. The extension direction of the first driving screw rod 403 is parallel to the first direction D1. The first screw rod nut 404 is threadedly connected with the first driving screw rod 403. The first sliding seat 300 is fixedly connected with the first screw rod nut 404.

[0059] The first driving motor 401 operates. The power is transmitted to the first driving screw rod 403 through the first coupling 406. The first driving screw rod 403 is driven to rotate. The rotation of the first driving screw rod 403 is converted into the horizontal movement of the first screw rod nut 404 along the axial direction of the first driving screw rod 403 by the screw connection between the first driving screw rod 403 and the first screw rod nut 404. The first sliding seat 300 can move along the first direction D1 accordingly. The end effector can be positionally adjusted in the first direction D1.

[0060] Further, referring to Figure 3 As shown, the first fixed seat 402 is provided with a first accommodating cavity 407. The first accommodating cavity 407 is provided with a first opening 408 on the first side wall of the first fixed seat 402. At least part of the first sliding seat 300 extends into the first accommodating cavity 407 through the first opening 408. In this way, the space occupied by the robot can be further compressed. The first sliding seat 300 overlaps with the first fixed seat 402 during the movement along the first direction D1. Thus, the length of the robot is reduced. The first sliding seat 300 can be protected. The first accommodating cavity 407 is provided with a first through hole 409 on the second side wall of the first fixed seat 402. The first bearing seat 405 penetrates through the first through hole 409. The first driving motor 401 is fixed on the outer wall surface of the second side wall. One end of the first driving screw rod 403 is connected with the first driving motor 401 through the first coupling 406. The other end of the first driving screw rod 403 extends into the first accommodating cavity 407.

[0061] In the embodiments provided in the present application, the second driving member 700 comprises a second driving motor 701, a second driving screw rod 702, a second screw rod nut 703, a second bearing seat 704 and a second coupling 705. The second driving motor 701 is fixed on the first sliding base 300. In order to make the second driving motor 701 operate accurately and stably, the second driving motor 701 is preferably a servo motor. The output shaft of the second driving motor 701 is connected with the second driving screw rod 702 through the second coupling 705. The second driving screw rod 702 is rotatably supported on the second bearing seat 704. The extension direction of the second driving screw rod 702 is parallel to the second direction D2. The second screw rod nut 703 is threadedly connected with the second driving screw rod 702. The second sliding base 600 is fixedly connected with the second screw rod nut 703.

[0062] When the second driving motor 701 operates, power is transmitted to the second driving screw rod 702 through the second coupling 705, so as to drive the second driving screw rod 702 to rotate. The rotation of the second driving screw rod 702 is converted into the movement of the second screw rod nut 703 along the axis direction of the second driving screw rod 702 through the screw connection between the second driving screw rod 702 and the second screw rod nut 703. Therefore, the second sliding base 600 can move along the second direction D2, so as to make the end effector adjust the position in the second direction D2.

[0063] Further, referring to FIG. 1, Figure 3 The second driving motor 701 is fixed on the top of the first sliding base 300. The second driving screw rod 702 and the second screw rod nut 703 are accommodated in the second accommodating cavity 301. Therefore, the space occupied by the robot can be reduced, and the structure is more compact. The first side wall of the second accommodating cavity 301 is provided with a second opening 302. The second guide unit 500 is arranged on the outer wall surface of the first side wall of the second accommodating cavity 301. The second screw rod nut 703 is provided with a connecting block 706. The connecting block 706 is connected with the third sliding base 900 through the second opening 302. Through the second opening 302, the lifting movement of the second sliding base 600 is avoided. The second side wall of the second accommodating cavity 301 is provided with a second through hole 303. The first screw rod nut 404 is fixed in the second through hole 303. One end of the first driving screw rod 403 is connected with the first driving motor 401 through the first coupling 406. The other end of the first driving screw rod 403 extends into the first accommodating cavity 407 and the second accommodating cavity 301 in sequence.

[0064] In the embodiments provided in the present application, referring to FIG. 1, Figure 1 and Figure 3As shown, the third driving member 1000 includes a third driving motor 1001, a third driving screw 1002, a third screw nut 1003, a third bearing seat 1004 and a third coupling 1005. The third driving motor 1001 is fixed on the second slide 600. In order to ensure the precise and stable operation of the second driving motor 701, the third driving motor 1001 is preferably a servo motor. The output shaft of the third driving motor 1001 is connected to the third driving screw 1002 through the third coupling 1005. The third driving screw 1002 is rotatably supported on the third bearing seat 1004. The extension direction of the third driving screw 1002 is parallel to the third direction D3. The third screw nut 1003 is threadedly engaged with the third driving screw 1002. The third slide 900 is directly or indirectly connected to the third screw nut 1003.

[0065] When the third drive motor 1001 is working, the power is transmitted to the third drive screw 1002 via the third coupling 1005, driving the third drive screw 1002 to rotate. By utilizing the screw connection between the third drive screw 1002 and the third screw nut 1003, the rotation of the third drive screw 1002 is converted into the movement of the third screw nut 1003 along the axial direction of the third drive screw 1002. The third slide 900 can thereby move along the third direction D3, thereby enabling the end actuator to adjust its position in the third direction D3.

[0066] In a feasible implementation, referring to Figures 1 to 4 As shown, the third drive motor 1001 is fixed to the top of the second slide 600, and the third drive motor 1001 and the second drive motor 701 are arranged on the same side, which can reduce the space occupied by the robot, reduce the width of the robot, and make the structure of the entire robot more compact. The output shaft of the third drive motor 1001 extends along the second direction D2, and the third screw nut 1003 is fixed with an adapter block 1006. The second slide 600 is provided with a fourth guide unit 1007, and the third slide 900 is provided with a fifth guide unit 1008. The fourth guide unit 1007 and the fifth guide unit 1008 are respectively Connected to the adapter block 1006, the fourth guide unit 1007 extends along the second direction D2, and the fifth guide unit 1008 extends along the fourth direction. The fourth direction forms a preset angle with the third direction D3. The fourth guide unit 1007 guides the adapter block 1006 to only move vertically along the second direction D2. During the lifting and lowering process of the adapter block 1006, the fifth guide unit 1008 will provide the third slide 900 with a component force along the third direction D3. At the same time, due to the constraint of the third guide unit 800, the third slide 900 can only move along the third direction D3, thereby driving the third slide 900 to move.

[0067] Further, the second sliding seat 600 is provided with a third accommodating cavity 601, and the third driving lead screw 1002, the third lead screw nut 1003, the adapter block 1006 and the fourth guide unit 1007 are accommodated in the third accommodating cavity 601, so that the space occupied by the robot is reduced, and the structure is more compact.

[0068] In the embodiments provided in the application, the first guide unit 200, the second guide unit 500, the third guide unit 800, the fourth guide unit 1007 and the fifth guide unit 1008 are cross rail pairs or linear rail pairs, the cross rail pair comprises a stationary rail, a sliding rail and a roller holder, the stationary rail and the sliding rail are connected to the two sides of the roller holder through V-shaped grooves, and the stationary rail and the sliding rail slide relative to each other through the roller holder, and the linear rail pair comprises a rail body and a sliding block slidingly arranged on the linear rail body.

[0069] In the embodiments provided in the application, as shown in Figures 1 to 4 The starting end of the movement path of the first sliding seat 300, the second sliding seat 600 and the third sliding seat 900 is provided with a zero reset switch 1100, the starting reference point of the first sliding seat 300, the second sliding seat 600 and the third sliding seat 900 is determined through the zero reset switch 1100, the zero reset switch 1100 serves as the zero point of the movement of the robot, triggers the zero reset action when the robot is powered on each time, and returning to the starting reference point is one of the important functions of the robot, and whether the starting reference point can be correctly returned will affect the processing quality of the robot, and the structure of the zero reset switch 1100 can refer to the content of the prior art, and will not be described here.

[0070] Further, the tail end of the movement path of the first sliding seat 300, the second sliding seat 600 and the third sliding seat 900 is provided with a limit switch 1200, thereby limiting the movement displacement distance of the first sliding seat 300, the second sliding seat 600 and the third sliding seat 900, so that the movement of the first sliding seat 300, the second sliding seat 600 and the third sliding seat 900 is safe, reliable and stable, and the structure of the limit switch 1200 can refer to the content of the prior art, and will not be described here.

[0071] The above embodiments shown in the drawings have described the structure, features and effects of the application in detail, the above description is only the preferred embodiments of the application, but the application is not limited by the drawings shown, any change or modification made according to the idea of the application, or the equivalent embodiments of equivalent changes, as long as they are within the spirit of the description and drawings, should be within the protection scope of the application.

Claims

1. A tri-axial robot, characterized by, The utility model relates to a kind of first driving mechanism, comprising: Substrate; First guide unit, the first guide unit is located on the substrate, the first guide unit extends along first direction; First sliding seat, the first sliding seat is connected with the first guide unit to form guide cooperation; First driving member, the first driving member is located on the substrate, the output end of the first driving member is connected with the first sliding seat, to drive the first sliding seat moves along the first direction; Second guide unit, the second guide unit is located on the first sliding seat, the second guide unit extends along second direction; Second sliding seat, the second sliding seat is connected with the second guide unit to form guide cooperation; Second driving member, the second driving member is located on the first sliding seat, the output end of the second driving member is connected with the second sliding seat, to drive the second sliding seat moves along the second direction; Third guide unit, the third guide unit is located on the second sliding seat, the third guide unit extends along third direction, the first direction, the second direction and the third direction are all two two vertical intersection; Third sliding seat, the third sliding seat is connected with the third guide unit to form guide cooperation; Third driving member, the third driving member is located on the second sliding seat, the output end of the third driving member is connected with the third sliding seat, to drive the third sliding seat moves along the third direction; The second driving member includes second driving motor, the third driving member includes third driving motor, the third driving motor is fixed to the top of the second sliding seat, and the third driving motor is located on the same side with the second driving motor; Fourth guide unit is provided on the second sliding seat, and fifth guide unit is provided on the third sliding seat, fourth guide unit extends along second direction, fifth guide unit extends along fourth direction, the fourth direction and the third direction form preset angle, and fifth guide unit provides the third sliding seat with a component force along the third direction, and because the third guide unit is restricted, so that the third sliding seat can only move along the third direction.

2. The tri-axial robot of claim 1, wherein: The first driving member includes first driving motor, first fixed seat, first drive screw, first screw nut, first bearing seat and first coupling, the first fixed seat is located on the substrate, the output shaft of the first driving motor is connected with the first drive screw through the first coupling, the first drive screw is rotatably supported on the first bearing seat, the first screw nut is threadedly connected with the first drive screw, and the first sliding seat is fixedly connected with the first screw nut.

3. The tri-axial robot of claim 2, wherein: First accommodating cavity is arranged in the first fixed seat, first accommodating cavity is provided with first opening on the first side side wall of the first fixed seat, at least part of the first sliding seat extends into the first accommodating cavity through the first opening, first accommodating cavity is provided with first through hole on the second side side wall of the first fixed seat, the first bearing seat is arranged in the first through hole, and the first driving motor is fixed on the outer wall surface of the second side side wall.

4. The tri-axial robot of claim 2, wherein: The second driving member comprises a second driving motor, a second driving screw rod, a second screw rod nut, a second bearing seat and a second coupling, the second driving motor is fixed on the first sliding base, the output shaft of the second driving motor is connected with the second driving screw rod through the second coupling, the second driving screw rod is rotatably supported on the second bearing seat, and the second screw rod nut is threadedly connected with the second driving screw rod.

5. The tri-axial robot of claim 4, wherein, The first sliding base is internally provided with a second accommodating cavity, the second driving motor is fixed on the top of the first sliding base, the second driving screw rod and the second screw rod nut are accommodated in the second accommodating cavity, the first side wall of the second accommodating cavity is provided with a second opening, the second guide unit is arranged on the outer wall surface of the first side wall of the second accommodating cavity, the second screw rod nut is provided with a connecting block, the connecting block is connected with the third sliding base after penetrating through the second opening, the second side wall of the second accommodating cavity is provided with a second through hole, and the first screw rod nut is fixed in the second through hole.

6. The tri-axial robot of claim 4, wherein: The third driving member comprises a third driving motor, a third driving screw rod, a third screw rod nut, a third bearing seat and a third coupling, the output shaft of the third driving motor is connected with the third driving screw rod through the third coupling, the third driving screw rod is rotatably supported on the third bearing seat, the third screw rod nut is threadedly connected with the third driving screw rod, and the third sliding base is directly or indirectly connected with the third screw rod nut.

7. The tri-axial robot of claim 6, wherein: The third driving motor is fixed on the top of the second sliding base, the output shaft of the third driving motor extends along the second direction, the third screw rod nut is fixed with an adapter block, the second sliding base is provided with a fourth guide unit, the third sliding base is provided with a fifth guide unit, the fourth guide unit and the fifth guide unit are connected with the adapter block, the fourth guide unit extends along the second direction, the fifth guide unit extends along a fourth direction, and the fourth direction and the third direction form a preset included angle.

8. The tri-axial robot of claim 7, wherein: The second sliding base is internally provided with a third accommodating cavity, and the third driving screw rod, the third screw rod nut, the adapter block and the fourth guide unit are accommodated in the third accommodating cavity.

9. The tri-axial robot of claim 7, wherein, The first guide unit, the second guide unit, the third guide unit, the fourth guide unit and the fifth guide unit are cross rail pairs or linear guide pairs.

10. The tri-axial robot according to any one of claims 1 to 9, wherein: The starting end of the movement path of the first sliding base, the second sliding base and the third sliding base is provided with a zero reset switch, and the tail end of the movement path of the first sliding base, the second sliding base and the third sliding base is provided with a limit switch.

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