Positioning device and method for manipulator for loading and unloading drill rod

The invention relates to a positioning device and method for a manipulator for loading and unloading a drill rod, and belongs to the technical field of mechanical equipment. The positioning device comprises a controller and a sensor module connected with the controller; the sensor module comprises a synchronous positioning sensor assembly and a horizontal positioning sensor assembly which are arranged at the tail end of the manipulator, and a tail end positioning sensor assembly arranged on the rack; the synchronous positioning sensor assembly is used for determining that a rotary arm of the mechanical arm is parallel to the axis of a drill rod clamping device on the rack. The horizontal positioning sensor assembly is used for determining that the included angle between a rotary arm of the manipulator and the horizontal plane is zero. The tail end positioning sensor assembly is used for detecting the installation position of the drill rod to be clamped. The synchronous positioning sensor assembly and the hori