The utility model discloses a cylindrical coordinate type four-degree-of-freedom manipulator structure, which comprises a base, a rotary positioning device, an axial-radial mobile positioning device, a gripper rotary pick-up device and a controller, wherein the horizontal axis and vertical axis of the axial-radial mobile positioning device form an arm of the manipulator; the cornering of the base, and expansion radius and lifting height of the arm are realized in a cylindrical coordinate space displacement way, the angle of revolution of a gripper can also be realized at a wrist of the manipulator, thus the four-degree-of-freedom displacement of the manipulator can be realized in a space, and a task to be implemented can be completed very conveniently. The manipulator has a simple structure, driving is realized by a stepper motor, a direct current motor, a solenoid valve and a pneumatic device, and control over the position of the manipulator can be easily and accurately realized.