The invention discloses a transfer robot for a warehousing stereoscopic garage. The transfer robot is characterized by comprising traveling wheels for moving in the front-back directions, moving driving mechanisms, a supporting trolley underframe, a lifting mechanism and retractable forked type automatic centering mechanisms. The moving driving mechanisms include a front moving driving mechanism and a rear moving driving mechanism and are respectively fixedly connected with two ends of the supporting trolley underframe, and the traveling wheels for moving in the front-back directions can be driven to rotate, so that the transfer robot can move in the front-back directions; the lifting mechanism comprises lifting frames, an electric push rod, gear cases, transmission racks and lifting guide columns, the electric push rod is fixedly connected with the transmission racks, gears in the three gear cases can be driven, and lifting racks further can be driven, so that the lifting frames can ascend and descend; front comb frames and rear comb frames of the automatic centering mechanisms can be driven by driving motors, chain transmission mechanisms, gear transmissions and retractable racks to be stretched out and drawn back, so that parking spaces can be centered, and centering combs can be stretched out and drawn back. The transfer robot has the advantages that the transfer robot is in a retractable forked type transfer structural design, accordingly, the utilization rate of clear spaces of the stereoscopic garage can be increased, the quantity of equipment can be reduced, and the service cost can be lowered.