Cargo loading and unloading device and warehousing system

The utility model provides a cargo loading and unloading device and a warehousing system. The cargo loading and unloading device comprises a support, storage units and a walking frame, the walking frame can move towards the cargo outlet relative to the support, a plurality of mechanical arms corresponding to the storage units and movable parts arranged on the mechanical arms are arranged on the walking frame, the movable parts can move to the unfolding position or the folding position relative to the mechanical arms, and when the movable parts are in the unfolding position, the movable parts are folded. The movable part is used for abutting against the goods in the storage unit, so that when the mechanical arm moves relative to the support, the goods are conveyed into the storage unit from the outer side of the storage unit and then conveyed to the outer side of the goods outlet; at least one mechanical arm is provided with a detection assembly, the detection assembly is used for detecting the position state