As an important part of China’s space transportation system, the solid launch vehicle has characteristics of storage and transportation of the whole rocket and rapid launch response, and is widely favored in the field of military, civilian, and commercial launch. In response to the alignment error problem caused by actuator deformation of vehicle-mounted lifting equipment in the automated transfer of launch vehicles, this study refines an automatic transfer method based on a two-stage alignment model. This method aims to solve the closed-loop detection deficiency of alignment error caused by mechanism deformation that conventional transfer methods cannot effectively handle. The proposed method is verified by using Monte Carlo simulation. The results show that compared with conventional transfer methods, the proposed method has a success rate of about 96% for a single transfer, which solves the accuracy problem of automatic transfer alignment under heavy loads and large deformation. The transfer accuracy is good and can ensure accurate docking between rockets and vehicles.