In stamping production the traditional manual feeding and pick-up manner can lead to potential safety problem. The automatic feeding and automatic pick-up device can ensure the production safety and ease workers’ labor intensity. A kind of automatic feeding and automatic pick-up device and its control system are designed. The configuration, function and working principle of the mechanism were described. Hydraulic system was taken as power supply. Siemens S7-200 was adapted as the center of control system, Hall-effect switch sensor CS1020 was used to detect the position of components. Control theory was studied and programmed. The device described in this paper can realize stamping automatic. Adjusting the position and number of sensors can realize the feeding and pick-up automation of all kind of workpiece, make the system has flexibility and suit the change of production.