In order to meet the requirements of customized wooden door production line, a kind of vacuum adsorption device with high universality and good adsorption performance was designed. The structure and principle of vacuum adsorption device were analyzed, and the design of mechanical structure and adsorption system was completed. The adsorption process of wooden door was analyzed theoretically; the finite element analysis of vacuum adsorption device was carried out by using ANSYS; the stacking process of wooden door was simulated and analyzed. The minimum theoretical suction force required for adsorption of wooden door was obtained; the stress-strain situation of vacuum adsorption device and the first six modes of adsorption device when adsorping 50 kg wooden door were obtained; the displacement and velocity characteristic curves of boom, jib and vacuum adsorption device were obtained. The results show that the maximum stress of the vacuum adsorption device is less than the yield strength of the material, and the deformation is small and the structure is stable, but the maximum natural frequency of the adsorption device is close to the rotation frequency of the robot motor, which is easy to produce resonance. The motion of wooden door stacking robot was simulated and the motion characteristic parameters are obtained. The research results provide reference for the actual operation of customized wooden door production line.