The structure of Z-series loading and fetching manipulator include whole-hydraulic,mechanic-hydraulic mixed type.According to the types of the manipulative workpiece,they fall into clamp-support type,clamp-hold type,fork type.It can do the motions:the whole manipulator walk,upside of the manipulator turn around,the rod of the clamp flex of the clamp fluctuate,the head of the clamp rotate.