Positioning method for grabbing tray by gripper device

The positioning method comprises the steps that a travel switch is installed below the gripper device, in the descending process of the gripper device, the tray firstly makes contact with the travel switch, a travel switch signal changes and is transmitted to a PLC, the PLC controls the gripper device to stop moving downwards, and then the tray is placed in the travel switch; the gripper device is controlled to grip the trays in a combined manner; the parking position of the tray can be accurately judged, so that the tray is grabbed. 本发明公开了一种抓手装置抓取托盘的定位方法，将行程开关安装在抓手装置的下方，抓手装置下降过程中，托盘首先接触到行程开关，行程开关信号发生变化，并传输给PLC控制器，PLC控制器控制抓手装置停止下移，并控制抓手装置抓手合并抓取托盘；本发明能够准确判断托盘的停放位置从而抓取托盘。