An intelligent shelf express taking and delivering system based on an STM32 robot comprises an express shelf having groove slides and the robot having identification, communicating and mechanical movement functions; to-be-taken express packages have corresponding specified codes; bar codes and two-dimensional codes are arranged on the surfaces of the express packages; and the robot comprises an STM32 chip, a detection, identification and verification module, a wireless communication module, a driving control module, a mechanical control module, a warning control module and a power supply and power storage module. With the shelf having the groove slides and the intelligent wheeled robot provided with a braking system, the express packages are taken and delivered from the high position of the shelf very conveniently, and the reliability, accuracy, rapidness and high efficiency for express taking and delivering are enhanced; with the system, persons are replaced with the intelligent robot to take and deliver the express on the shelf, the safety is improved, meanwhile, the utilization rate of the high-layer space of the shelf is increased, and the physical pressure of workers is reduced.