The invention discloses an intelligent loading and unloading device for a warehouse and a cold storage. The intelligent loading and unloading device comprises an omni-directional moving platform, a lifting platform and a manipulator. The omni-directional moving platform comprises a rack, a driving motor, Mecanum wheels and a shock absorber. The lifting platform comprises an upper fixing plate, a middle supporting plate, a lower fixing plate, a lead screw nut pair and a stepper motor. The middle supporting plate is connected with a picking-up and delivering mechanism. The picking-up and delivering mechanism consists of a load-bearing plate and two electric telescopic rods. One ends of the electric telescopic rods are fixed to nuts. The other ends of the electric telescopic rods are fixed tothe lower end of the load-bearing plate. The manipulator is a six-degree-of-freedom manipulator. The intelligent loading and unloading device is suitable for the warehouse and the cold storage with limited running spaces and narrow channels, the moving trajectory can be changed without rotating, converting of multiple times of starting and a scramming posture is avoided, transition is smoother, and moving is smoother and steadier; and small quantities of goods can be picked-up and delivered on shelves with different heights through the lifting platform, and convenience and possibility are provided for placing of goods with different sizes.