The invention belongs to the technical field of truss production, and discloses a truss positioning transfer device. The truss positioning transfer device comprises a lifting driving mechanism, a lifting object placing table, a translation driving mechanism, a translation object placing table, an aligning driving mechanism and an aligning plate; the lifting object placing table is connected to thelifting driving mechanism; the lifting driving mechanism can drive the lifting object placing table to lift; the lifting object placing table can place trusses; the transition object placing table isconnected to the translation driving mechanism; the translation driving mechanism can drive the translation object placing table to move in the horizontal direction; the aligning plate is connected to the aligning driving mechanism; and the aligning driving mechanism can drive the aligning plate to move in the horizontal direction, and can drive the aligning plate to abut against the trusses on the translation object placing table, so that the trusses are positioned and shifted to a grabbing position. The truss positioning transfer device can guarantee the truss conveying position consistency, guarantees the accuracy of a manipulator grabbing the trusses, is convenient to operate, saves both time and power, and improves the automation degree and the production efficiency.