The invention discloses a self-service express sending and taking device. The self-service express sending and taking device comprises an external express storing and taking cabinet, a small mechanical arm, a rectangular coordinate mechanical arms, a conveying device, storage racks and a control system, wherein the external express storing and taking cabinet is used for inputting information and is provided with the control system, the small mechanical arm is capable of stretching and shrinking, the rectangular coordinate mechanical arms are capable of sliding in directions X, Y and Z and revolving in the direction Z. Packages are clamped and conveyed from the storage racks by virtue of the control of the control system and the cooperation movement of the rectangular coordinate mechanical arms, the small mechanical arm and the conveying device, thereby completing the fetching process or the reverse storing process of the packages. According to the self-service express sending and taking device, by combining multi-storage rack classification-type storage with the different rectangular coordinate mechanical arms for storing and taking the expresses, the taking efficiency is greatly improved, the labor cost is lowered, and the storing and the taking of large-inventory expresses are realized; furthermore, by virtue of the cooperation of the control system, the error rates of storing and taking of the expresses are greatly decreased, and the expresses can be conveniently and rapidly taken.