Coil coiling machine tray positioning method and device, coil coiling machine and storage medium

The embodiment of the invention provides a coil coiler tray positioning method and device, a coil coiler and a storage medium, and the method comprises the steps that when a tray ascends, the first position of the tray on a sliding rail is determined; determining an ascending speed of the tray based on the first position; controlling the tray to move upwards according to the ascending speed; returning to the step of determining the first position of the tray to control the tray to move upwards until the tray and the high-position mechanical stop block are stopped and positioned; when the tray descends, the second position of the tray on the sliding rail is determined; determining a descending speed of the tray based on the second position; controlling the tray to move downwards according to the descending speed; and returning to execute the step of determining the second position of the tray to control the tray to move downwards until the tray and the low-position mechanical stop block are stopped and positio