A type of gantry-type manipulator, it includes a beam, a truss, rolling wheels, longitudinal drive devices, and lateral drive devices. Rolling wheels are installed at both ends of the beam, and the two longitudinal drive devices are respectively connected to the rolling wheels set at the left and right ends of the beam. It is characterized by further including a lead screw, a nut, a moving gear, a fixed rack, a moving rack, and a material-picking fork. The nut is screw-mounted on the lead screw, which is set on the truss, and the moving gear is hinged on the nut. The fixed rack is set on one side of the lead screw in the same direction as the lead screw, while the moving rack is set in the same direction on the guide frame of the material-picking fork on the other side of the lead screw. The moving gear hinged to the nut engages with both the fixed rack and the moving rack, and the material-picking fork is securely connected to the moving rack.
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