Rectangular coordinate online cleaning robot tiltable horizontal driving device

The utility model discloses an inclinable horizontal driving device of a rectangular coordinate on-line cleaning robot, which comprises a vertical driving mechanism, a torque inclination transmission mechanism, a rack transmission mechanism and a casing, and is characterized in that the vertical driving mechanism comprises a vertically distributed outer driving shaft and a spherical sliding block arranged on the outer driving shaft; the sliding block and the outer driving shaft rotate synchronously; the torque inclined transmission mechanism comprises a rotary transmission shell arranged outside the sliding block in a covering mode, and the outer driving shaft transmits the torque of the outer driving shaft to the transmission shell. The transmission shell is movably connected with the cartridge receiver; the rack transmission mechanism comprises a rack driven by a transmission shell and a horizontal guide rail movable section used for fixing the rack. The condenser is high in practicability and functionality