Abstract: The billet-discharging manipulator of the 20 MN piercing mill is modified，focusing on the hardware，the software and the process characteristics etc.，and the operation speed and rotation angle thereof are optimized. Actual operation result of the modified equipment shows that due to the fact that the manipulator is capable of rotating reversely with 90 °，ceiling-hitting-caused damage of the induction heating furnace is almost eliminated.As a result，the furnace liner consumption is reduced，and the liner expense is in turn cut down form the original 100 RMB/t to 45 RMB/t.Moreover，the billet heating temperature homogeneity is improved，and the yield of extrusion operation enhanced as well.