In the production of spade stamping, the manual loading and unloading work has been carried out in the past, and the efficiency is low and the risk is high. Therefore, a cylindrical coordinate automatic loading and unloading manipulator with four degrees of freedom is designed for the stamping stage of spade production. In this paper, the overall scheme of the spade stamping loading and unloading manipulator is first designed, and then the actuator is designed and selected. At the same time, the driving structure is designed, and the three-dimensional modeling design of the spade stamping automatic loading and unloading manipulator is completed by using three-dimensional design software.