Gantry atmospheric plasma cleaning machine is a kind of equipment specially used for cleaning and modifying the surface of materials. It uses atmospheric plasma cleaning technology, combined with the design of CNC system and gantry structure, and has high stability and rigidity. The top of the gantry is fixedly connected with the X-axis linear module, and the top of the X-axis linear module is slidably connected with the Y-axis linear module. The gantry is set up to make the structure of the plasma cleaning machine more stable. The X-axis linear module can drive the Y-axis linear module to move. At the same time, the Y-axis linear module slides on the parallel guide rail to make the movement of the Y-axis linear module more stable. The Y-axis linear module can drive the Z-axis linear module to move. By controlling the X-axis linear module, the Y-axis linear module and the Z-axis linear module, the plasma spray gun can be driven to move in multiple positions, which can ensure the precise control of the distance between the plasma nozzle and the workpiece during the cleaning process, which is conducive to improving the cleaning accuracy.