The invention discloses a charging and blanking robot of a punch press, comprising four joints, a base, two arms and an end effector, wherein the first joint, the second joint and the fourth joint have the degree of freedom of rotation, and the third joint has the degree of freedom of up and down translation; one end of the first joint is connected with the base by an input end shell; the other end of the first joint is connected with one end of the first arm by a first joint output flange; the other end of the first arm is connected with a second joint output flange of the second joint; a third joint connecting plate is connected with the joint rack of the fourth joint; and a fourth joint output rotary table is provided with the end effector. A harmonic transmission mode is adopted by a first joint transmission device and a second joint transmission device of the robot. Aiming at the characteristic that a harmonic speed reducer only can bear torque but can not bear bending moment, a pair of tapered roller bearings is arranged on an output shaft and is used for bearing overturning bending moment. The transmission mode has compact structure, high transmission efficiency, small return difference and high transmission accuracy.