The invention discloses an omni-directional mobile transfer robot. The omni-directional mobile transfer robot comprises a mobile chassis, a carrying rack, a rotating mechanism, a lifting mechanism, a manipulator, a visual system, a laser sensor, a control system and a charging system. The mobile chassis is provided with Mecanum wheels for realizing omni-directional moving. The lifting mechanism can adjust the height of the manipulator. Rotational motion of a stand column at any angle can be realized through the rotating mechanism. Moreover, through cooperation of the manipulator having seven degrees of freedom, the working range is larger. Precision guidance can be realized through the laser sensor and the visual system. Operation is convenient. Motion is fast. The omni-directional mobile transfer robot is used for replacing manual operation, the working strength is reduced, and the production efficiency is improved. The omni-directional mobile transfer robot has high flexibility.