The invention discloses a bar feeding and taking machine. The bar feeding and taking machine comprises a telescopic conveying system, a telescopic clamping and taking system, a power and control system, a vehicle frame and a bar material temporary storage box. The telescopic conveying system and the telescopic clamping and taking system are both arranged on a platform arranged on the upper portionof the vehicle frame, the power and control system is arranged on one side of the telescopic clamping and taking system of the vehicle frame, and the bar material temporary storage box is arranged onone side of the telescopic conveying system of the vehicle frame. The telescopic clamping and taking system comprises a plurality of supporting frames, a telescopic main beam, a plurality of telescopic hydraulic cylinders and a manipulator. The manipulator comprises a bottom rotary hydraulic motor, at least three movable arms, at least three unfolding and folding hydraulic cylinders, an end rotary hydraulic motor, at least one clamping claw and at least two grabbing hydraulic cylinders. The telescopic conveying system comprises a plurality of supporting frames, two telescopic rods and a plurality of conveying wheels. The operation process is simple and convenient, the bar taking and feeding efficiency is high, and the safety performance is good.