The invention relates to the technical field of mechanical automation, in particular to a five-axis carrying manipulator. The five-axis carrying manipulator comprises a supporting cross beam, the two ends of the supporting cross beam are fixedly connected to a stand column, the side wall of the supporting cross beam is provided with two first transverse guide rails, the two first transverse guide rails are provided with a first transverse feeding mechanism, the first transverse feeding mechanism is provided with a lifting mechanism, the lower end of the lifting mechanism is provided with a second transverse feeding mechanism, the right end of the second transverse feeding mechanism is provided with a rotating mechanism, and the two sides of the rotating mechanism are each provided with a grabbing mechanism. The five-axis carrying manipulator is ingenious in structure, reasonable in design, easy to operate, high in flexibility, capable of conveniently stretching into a press and small in occupied space, achieves multi-axis simultaneous operation, is high in operation speed, high in carrying efficiency, stable in operation and high in safety in the robot operation process, more effectively meets requirements of people, and solves problems existing in the prior art.