The invention discloses a luggage taking and placing device, which comprises an installing plate, a folding frame, a transmission device and an extraction device, wherein lead screws with opposite screw threads are arranged at the two sides of the bottom of the installing plate, and connecting screw nuts are respectively arranged on the lead screws arranged at the two sides in a sleeving way; the lead screws are connected with a first motor; the top ends of the folding frame are respectively arranged on the connecting screw nuts arranged at the two sides, and the bottom end of the folding frame is connected with a transmission device; the transmission device comprises a bottom box and a transmission plate, a group of mutually matched gears and racks is arranged between the bottom box and the transmission plate, and the racks are connected with a second motor; the extraction device comprises a support frame, a pulley and a suction disc; the top end of support frame is arranged on the installing plate, the pulley is arranged on the support frame, a rope connected with the third motor is arranged on the pulley, the rope is connected with a screw nut lead screw, a screw nut is arranged on the screw nut lead screw in a sleeving way, and the suction disc is arranged on the screw nut. The luggage taking and placing device has the advantages that the labor work is reduced, the inconvenience in a compartment due to luggage taking and placing is reduced, the stable luggage taking and placing is realized, and the luggage can be reasonably ranged.