The invention provides a transport and transfer vehicle and an ammunition can transfer method based on the transport and transfer vehicle. The transport and transfer vehicle comprises a telescopic support platform and a mechanical arm; the telescopic support platform is used for supporting a load in the loading process and comprises N guide rails, N is greater than or equal to 2, and the N guide rails are parallel to one another and are installed at the bottom of the transport and transfer vehicle and driven by external force to stretch out and draw back at the two sides of the transport and transfer vehicle; the mechanical arm moves the tail end to a target position according to target posture information and running track information which are input from the outside and carries out catching action according to a catching instruction. The ammunition can transfer method adopts a full-automatic transfer algorithm to achieve fast transfer and improves the transfer efficiency.