Positioning device and laser cleaning equipment

Abstract

The utility model discloses a positioning device and laser cleaning equipment. The positioning device comprises a base, a first positioning module and a second positioning module. The base is provided with a bearing surface which is used for bearing a product; the included angle between the first direction and the second direction is larger than zero, the circumferential face of the product comprises a first side face, a second side face, a third side face and a fourth side face, the first side face and the second side face are arranged in parallel in the first direction, and the third side face and the fourth side face are arranged in parallel in the second direction; the first positioning module comprises a first positioning piece, a second positioning piece, a first pressure sensor and a first driving assembly, and the first driving assembly is used for driving the first positioning piece and the second positioning piece to be close to each other in the first direction so that the first positioning piece can make contact with the first side face, and the second positioning piece can make contact with the second side face. The positioning device provided by the utility model has higher compatibility to the square battery.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser cleaning, in particular to a positioning device and a laser cleaning equipment. BACKGROUND

[0002] Before the pole of the battery cell is welded, there may be oil stains, oxide layers or rust marks, which will affect the precision and effect of welding, so the pole needs to be cleaned before welding. At present, laser is generally used to clean the pole. The cylindrical battery product size is fixed and is relatively convenient to position, but the square battery brand has many specifications and a wide size range. In addition, the battery has poor impact resistance, puncture resistance and pressure resistance.

[0003] In the related art, the positioning device can only position square batteries of a specific size, and has poor compatibility. CONTENT OF THE UTILITY MODEL

[0004] Therefore, the present application provides a positioning device which has stronger compatibility for square batteries.

[0005] The present application also provides a laser cleaning equipment with the above positioning device.

[0006] The positioning device according to the first aspect of the present application comprises:

[0007] The base is provided with a bearing surface for bearing a product; the included angle between the first direction and the second direction is greater than zero; the circumferential surface of the product comprises a first side surface, a second side surface, a third side surface and a fourth side surface; the first side surface and the second side surface are arranged side by side along the first direction; and the third side surface and the fourth side surface are arranged side by side along the second direction;

[0008] The first positioning module comprises a first positioning member, a second positioning member, a first pressure sensor and a first driving assembly; the first driving assembly is used to drive the first positioning member and the second positioning member to move towards each other along the first direction, so that the first positioning member is in contact with the first side surface, and the second positioning member is in contact with the second side surface; the first driving assembly is also used to drive the first positioning member and the second positioning member to move away from each other along the first direction; and the first pressure sensor is used to detect the pressure between the first positioning member and the first side surface, or the first pressure sensor is used to detect the pressure between the first positioning member and the first side surface and the pressure between the second positioning member and the second side surface;

[0009] The second positioning module comprises a third positioning member, a fourth positioning member, a second pressure sensor and a second driving assembly. The second driving assembly is used to drive the third positioning member and the fourth positioning member to move towards each other along the second direction, so that the third positioning member is in contact with the third side surface and the fourth positioning member is in contact with the fourth side surface. The second driving assembly is also used to drive the third positioning member and the fourth positioning member to move away from each other along the second direction. The second pressure sensor is used to detect the pressure between the third positioning member and the third side surface, or the second pressure sensor is used to detect the pressure between the third positioning member and the third side surface and the pressure between the fourth positioning member and the fourth side surface.

[0010] According to the positioning device provided by the embodiments of the present application, the first pressure sensor is arranged to feed back the pressure value between the first positioning member and the first side surface. Therefore, no matter how the size of the square battery (one kind of product) changes, as long as the target pressure value is detected by the first pressure sensor, it is considered that the square battery is clamped in place. The second pressure sensor is the same as the first pressure sensor. Through the cooperation of the first pressure sensor and the second pressure sensor, the positioning of square batteries with different sizes can be completed. The positioning device has stronger compatibility for square batteries.

[0011] According to some embodiments of the present application, the second positioning module further comprises:

[0012] A distance measuring calibration block is installed on the fourth positioning member.

[0013] A visual calibration block is installed on the fourth positioning member.

[0014] According to some embodiments of the present application, the first pressure sensor comprises one of a strain gauge pressure sensor, a piezoelectric pressure sensor, a capacitive pressure sensor and a piezoresistive pressure sensor. The second pressure sensor comprises one of a strain gauge pressure sensor, a piezoelectric pressure sensor, a capacitive pressure sensor and a piezoresistive pressure sensor.

[0015] According to some embodiments of the present application, one first positioning member, one second positioning member, one third positioning member and one fourth positioning member form a working group. There are two or more working groups. Each working group is used to position at least one product.

[0016] The first driving assembly is used to drive the first positioning member and the second positioning member in each working group to move towards each other along the first direction. The first driving assembly is also used to drive the first positioning member and the second positioning member in each working group to move away from each other along the first direction.

[0017] The second driving assembly is configured to drive the third positioning member and the fourth positioning member in each of the working groups to move towards each other along the second direction; and the second driving assembly is further configured to drive the third positioning member and the fourth positioning member in each of the working groups to move away from each other along the second direction.

[0018] According to some embodiments of the present application, the number of the working groups is two, three or four.

[0019] According to some embodiments of the present application, the first positioning member is fixed to the base, and the first driving assembly is configured to drive the second positioning member to move towards or away from the first positioning member.

[0020] According to some embodiments of the present application, the third positioning member is fixed to the base, and the second driving assembly is configured to drive the fourth positioning member to move towards or away from the third positioning member.

[0021] According to some embodiments of the present application, the first positioning module further comprises:

[0022] a first insulation pad mounted on the first positioning member, the first insulation pad being configured to contact the first side surface;

[0023] a second insulation pad mounted on the second positioning member, the second insulation pad being configured to contact the second side surface.

[0024] According to some embodiments of the present application, the second positioning module further comprises:

[0025] a third insulation pad mounted on the third positioning member, the third insulation pad being configured to contact the third side surface;

[0026] a fourth insulation pad mounted on the fourth positioning member, the fourth insulation pad being configured to contact the fourth side surface.

[0027] The laser cleaning device according to the second aspect of the embodiments of the present application comprises:

[0028] the positioning device described above;

[0029] a laser device configured to emit laser to perform laser cleaning on the product clamped by the first positioning member, the second positioning member, the third positioning member and the fourth positioning member together.

[0030] The laser cleaning device according to the embodiments of the present application has at least the following beneficial effects: by using the positioning device described above, the laser cleaning device has stronger compatibility for square batteries.

[0031] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0032] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0033] Figure 1 A perspective view of a positioning device according to an embodiment of this application;

[0034] Figure 2 for Figure 1 A schematic diagram of the first positioning component, the second positioning component, the third positioning component, the fourth positioning component of the positioning device, and the square battery;

[0035] Figure 3 for Figure 1 A perspective view of the first positioning module of the positioning device;

[0036] Figure 4 for Figure 1 A perspective view of the second positioning module of the positioning device;

[0037] Figure 5 for Figure 1 A 3D view of the drive module and base of the positioning device;

[0038] Figure 6 This is a schematic diagram of a laser cleaning device according to an embodiment of this application.

[0039] Reference numerals: base 100, bearing surface 110;

[0040] Product 200, square battery 210, first side 211, second side 212, third side 213, fourth side 214;

[0041] The system comprises: a first positioning module 300, a first driving assembly 310, a first positioning component 320, a second positioning component 330, a first pressure sensor 340, a first insulating pad 351, a second insulating pad 352, a first connecting block 360, a second connecting block 370, and a first carrier plate 380.

[0042] Second positioning module 400, second pressure sensor 410, fourth positioning component 420, third insulating pad 431, fourth insulating pad 432, third positioning component 440, second drive assembly 450, third connecting block 460, fourth connecting block 470, vision calibration block 480, and ranging calibration block 490.

[0043] Drive module 500;

[0044] Laser device 600. Detailed Implementation

[0045] The embodiments of the present application will be described in detail below with reference to the drawings, in which the same or similar components have the same or similar designations and functions throughout the drawings and a repeated description of the same or similar components will be omitted. The embodiments described below are examples in which various changes can be made. Therefore, the technical scope of the present application should not be construed as being limited to the following embodiments.

[0046] In the description of the present application, it should be understood that the positional description, such as the positional or directional relationship indicated by the terms such as "upper", "lower", "front", "back", "left", "right" and the like, is based on the positional or directional relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and therefore should not be construed as indicating or implying that the device or element indicated must have a particular position, be constructed and operated in a particular position, and therefore should not be construed as limiting the present application.

[0047] In the description of the present application, the meaning of "one" is one or more, the meaning of "multiple" is two or more, and the meanings of "greater than", "less than", "exceed" and the like are not inclusive of the number, and the meanings of "above", "below", "within" and the like are not inclusive of the number. If it is described as "first", "second", it is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of technical features indicated.

[0048] In the description of the present application, unless otherwise explicitly limited, the words such as "arrange", "install", "connect" and the like should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0049] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0050] It should be noted that the product 200 positioned by the positioning device of the following embodiments of the present application is a square battery 210, but the product 200 positioned by the positioning device of the embodiments of the present application is not limited to the square battery 210, and can also be other products 200 having four sides, such as a cuboid-shaped shell, a mold, etc.

[0051] Referring to Figures 1 to 3According to the first aspect of the present application, the positioning device comprises a base 100, a first positioning module 300 and a second positioning module 400. The base 100 is provided with a bearing surface 110 for bearing a square battery 210. The first direction and the second direction form an angle greater than zero. The square battery 210 comprises a first side surface 211, a second side surface 212, a third side surface 213 and a fourth side surface 214. The first side surface 211 and the second side surface 212 are arranged side by side along the first direction, and the third side surface 213 and the fourth side surface 214 are arranged side by side along the second direction.

[0052] The first positioning module 300 comprises a first positioning member 320, a second positioning member 330, a first pressure sensor 340 and a first driving assembly 310. The first driving assembly 310 is configured to drive the first positioning member 320 and the second positioning member 330 to move towards each other along the first direction, so that the first positioning member 320 is in contact with the first side surface 211, and the second positioning member 330 is in contact with the second side surface 212. The first driving assembly 310 is also configured to drive the first positioning member 320 and the second positioning member 330 to move away from each other along the first direction. The first pressure sensor 340 is configured to detect the pressure between the first positioning member 320 and the first side surface 211, or the first pressure sensor 340 is configured to detect the pressure between the first positioning member 320 and the first side surface 211, and the pressure between the second positioning member 330 and the second side surface 212.

[0053] The second positioning module 400 comprises a third positioning member 440, a fourth positioning member 420, a second pressure sensor 410 and a second driving assembly 450. The second driving assembly 450 is configured to drive the third positioning member 440 and the fourth positioning member 420 to move towards each other along the second direction, so that the third positioning member 440 is in contact with the third side surface 213, and the fourth positioning member 420 is in contact with the fourth side surface 214. The second driving assembly 450 is also configured to drive the third positioning member 440 and the fourth positioning member 420 to move away from each other along the second direction. The second pressure sensor 410 is configured to detect the pressure between the third positioning member 440 and the third side surface 213, or the second pressure sensor 410 is configured to detect the pressure between the third positioning member 440 and the third side surface 213, and the pressure between the fourth positioning member 420 and the fourth side surface 214.

[0054] According to the positioning device provided in the embodiments of the present application, the following beneficial effects are achieved: the first pressure sensor 340 is arranged to feed back the pressure value between the first positioning member 320 and the first side surface 211, so that no matter how the size of the square battery 210 changes, as long as the target pressure value is detected by the first pressure sensor 340, it is considered that the square battery 210 is clamped in place; the second pressure sensor 410 is the same as the first pressure sensor 340, and through the cooperation of the first pressure sensor 340 and the second pressure sensor 410, the positioning of square batteries of different sizes can be completed, and the compatibility of the positioning device for the square battery 210 is stronger.

[0055] Specifically, the included angle between the first direction and the second direction can be 30 degrees, 45 degrees, 60 degrees, 80 degrees, 90 degrees or other values. Among them, 90 degrees is the preferred embodiment, at this time, the first direction can be the front-back direction, and the second direction can be the left-right direction.

[0056] It should be noted that the first pressure sensor 340 is used to detect the pressure between the first positioning member 320 and the first side surface 211, which does not mean that the first pressure sensor 340 must be installed between the first positioning member 320 and the first side surface 211 (for example, the first pressure sensor 340 is installed on the surface of the first positioning member 320 facing the first side surface 211), and there can be other installation positions, which will be described below. The second pressure sensor 410 is the same as the first pressure sensor 340.

[0057] It should be noted that the pressure between the third positioning member 440 and the third side surface 213 is generally equal to the pressure detected between the fourth positioning member 420 and the fourth side surface 214, so the first pressure sensor 340 can only detect the pressure between the first positioning member 320 and the first side surface 211, or can detect the pressure between the third positioning member 440 and the third side surface 213, and the pressure between the fourth positioning member 420 and the fourth side surface 214.

[0058] Reference Figure 1 In some embodiments of the present application, the second positioning module 400 further comprises a visual calibration block 480 and a distance measuring calibration block 490, and the distance measuring calibration block 490 is installed on the third positioning member 440. The visual calibration block 480 is installed on the third positioning member 440.

[0059] The distance measuring calibration block 490 is beneficial to accurately determine the position of the base 100. The visual calibration block 480 can be used as an analysis reference for the image of the base 100, so as to analyze the position of the pole of the square battery 210 on the base 100. By arranging the visual calibration block 480 and the distance measuring calibration block 490, the position of the pole of the square battery 210 on the base 100 can be accurately positioned.

[0060] It should be noted that reference Figure 1The positioning device usually further comprises a driving module 500, which drives the base 100 to reciprocate between the loading position and the processing position. When the base 100 is located at the processing position, the position of the pole of the square battery 210 needs to be determined by taking a picture, so as to perform laser cleaning on the pole of the square battery 210. The distance measuring calibration block 490 is usually used in cooperation with the distance meter, and the visual calibration block 480 is usually used in cooperation with the CCD.

[0061] In some embodiments of the present application, the first pressure sensor 340 comprises one of a strain gauge pressure sensor, a piezoelectric pressure sensor, a capacitive pressure sensor and a piezoresistive pressure sensor. The second pressure sensor 410 comprises one of a strain gauge pressure sensor, a piezoelectric pressure sensor, a capacitive pressure sensor and a piezoresistive pressure sensor.

[0062] The strain gauge pressure sensor, the piezoelectric pressure sensor, the capacitive pressure sensor and the piezoresistive pressure sensor have low acquisition cost, thereby being conducive to reducing the equipment cost of the positioning device.

[0063] Specifically, referring to Figure 3 To install the first pressure sensor 340, the first positioning module 300 further comprises a first connecting block 360, a second connecting block 370 and a first carrier plate 380. The second positioning member 330 is fixed to the first carrier plate 380 by fasteners, and the second positioning member 330 is located above the first carrier plate 380. The first connecting block 360 is fixed to the first carrier plate 380 by fasteners, and the first connecting block 360 is located below the first carrier plate 380. The first pressure sensor 340 is installed between the first connecting block 360 and the second connecting block 370, and the first driving assembly 310 is used to drive the second connecting block 370 to move in the first direction.

[0064] Therefore, when the first driving assembly 310 drives the second connecting block 370 to move in the first direction, the second connecting block 370 transmits the force to the first connecting block 360 through the first pressure sensor 340, and the first connecting block 360 transmits the force to the second positioning member 330 through the first carrier plate 380. When the first positioning member 320 and the second positioning member 330 clamp the square battery 210 together, the reaction force of the square battery 210 on the second positioning member 330 is transmitted to the first pressure sensor 340, and the first pressure sensor 340 can accurately detect the pressure between the first positioning member 320 and the first side surface 211.

[0065] Specifically, referring to Figure 4To install the second pressure sensor 410, the second positioning module 400 further comprises a third connecting block 460 and a fourth connecting block 470. The fourth positioning member 420 is fixed to the third connecting block 460 by a fastener, and the fourth positioning member 420 is located at the right side of the third connecting block 460. The fourth connecting block 470 is located at the left side of the third connecting block 460. The second pressure sensor 410 is installed between the third connecting block 460 and the fourth connecting block 470, and the second driving assembly 450 is used to drive the fourth connecting block 470 to move in the second direction.

[0066] Therefore, when the second driving assembly 450 drives the fourth connecting block 470 to move in the second direction, the fourth connecting block 470 transmits the force to the third connecting block 460 through the second pressure sensor 410, and the third connecting block 460 transmits the force to the fourth positioning member 420. When the third positioning member 440 and the fourth positioning member 420 clamp the square battery 210 together, the reaction force of the square battery 210 on the fourth positioning member 420 is transmitted to the second pressure sensor 410, and the second pressure sensor 410 can accurately detect the pressure between the fourth positioning member 420 and the fourth side surface 214.

[0067] Referring to Figure 1 In some embodiments of the present application, one first positioning member 320, one second positioning member 330, one third positioning member 440, and one fourth positioning member 420 form a working group, and there are two or more working groups, and each working group is used to position at least one square battery 210.

[0068] The first driving assembly 310 is used to drive the first positioning member 320 and the second positioning member 330 in each working group to move towards each other in the first direction, and the first driving assembly 310 is also used to drive the first positioning member 320 and the second positioning member 330 in each working group to move away from each other in the first direction.

[0069] The second driving assembly 450 is used to drive the third positioning member 440 and the fourth positioning member 420 in each working group to move towards each other in the second direction, and the second driving assembly 450 is also used to drive the third positioning member 440 and the fourth positioning member 420 in each working group to move away from each other in the second direction.

[0070] By providing two or more working groups, two or more square batteries 210 can be positioned at one time, thereby effectively improving the positioning efficiency of the square battery 210.

[0071] Referring to Figure 1 In the improved scheme of the above embodiments, the number of working groups is two, three, or four.

[0072] When the number of working groups is two, three, or four, the positioning device can balance the positioning efficiency and the volume, and the positioning device is more convenient to use.

[0073] Referring to Figure 5 In some embodiments of the present application, the first positioning member 320 is fixed to the base 100, and the first driving assembly 310 is configured to drive the second positioning member 330 to move towards or away from the first positioning member 320.

[0074] By fixing the first positioning member 320 to the base 100, the first positioning member 320 can serve as a positioning reference for the square battery 210 in the first direction, and the positioning accuracy of the square battery 210 is higher.

[0075] Specifically, the first positioning member 320 can be fixed to the base 100 by fasteners (screws, nuts, etc.), or the first positioning member 320 can be welded to the base 100.

[0076] Referring to Figure 5 In some embodiments of the present application, the third positioning member 440 is fixed to the base 100, and the second driving assembly 450 is configured to drive the fourth positioning member 420 to move towards or away from the third positioning member 440.

[0077] By fixing the third positioning member 440 to the base 100, the third positioning member 440 can serve as a positioning reference for the square battery 210 in the second direction, and the positioning accuracy of the square battery 210 is higher.

[0078] Specifically, the third positioning member 440 can be fixed to the base 100 by fasteners (screws, nuts, etc.), or the third positioning member 440 can be welded to the base 100.

[0079] Referring to Figure 2 and Figure 3 In some embodiments of the present application, the first positioning module 300 further includes a first insulating pad 351 and a second insulating pad 352. The first insulating pad 351 is installed on the first positioning member 320, and the first insulating pad 351 is configured to contact the first side surface 211. The second insulating pad 352 is installed on the second positioning member 330, and the second insulating pad 352 is configured to contact the second side surface 212.

[0080] By providing the first insulating pad 351, the first positioning member 320 can be in insulating contact with the square battery 210, the risk of the square battery 210 leaking electricity to the first positioning member 320 is smaller, and static electricity on the first positioning member 320 is not easily introduced into the square battery 210. By providing the second insulating pad 352, the second positioning member 330 can be in insulating contact with the square battery 210, the risk of the square battery 210 leaking electricity to the second positioning member 330 is smaller, and static electricity on the second positioning member 330 is not easily introduced into the square battery 210.

[0081] In general, by arranging the first insulating pad 351 and the second insulating pad 352, the risk of the square battery 210 leaking electricity to the positioning device is smaller, and the safety of the square battery 210 during positioning is higher.

[0082] Specifically, the material of the first insulating pad 351 can be plastic (such as bakelite), rubber, or silica gel, etc. The material of the second insulating pad 352 can be plastic (such as bakelite), rubber, or silica gel, etc.

[0083] In another embodiment, the first positioning member 320 can be made of insulating material as a whole, and the second positioning member 330 can be made of insulating material as a whole. Alternatively, the first positioning member 320 can be made of insulating material as a whole, and the second positioning member 330 can be provided with the second insulating pad 352. Alternatively, the first positioning member 320 can be provided with the first insulating pad 351, and the second positioning member 330 can be made of insulating material as a whole.

[0084] Referring to Figure 2 and Figure 3 In some embodiments of the present application, the second positioning module 400 further includes a third insulating pad 431 and a fourth insulating pad 432. The third insulating pad 431 is installed on the third positioning member 440, and is used to contact the third side surface 213. The fourth insulating pad 432 is installed on the fourth positioning member 420, and is used to contact the fourth side surface 214.

[0085] By arranging the third insulating pad 431, the third positioning member 440 can be kept in insulating contact with the square battery 210, the risk of the square battery 210 leaking electricity to the third positioning member 440 is smaller, and static electricity on the third positioning member 440 is not easily introduced into the square battery 210. By arranging the fourth insulating pad 432, the fourth positioning member 420 can be kept in insulating contact with the square battery 210, the risk of the square battery 210 leaking electricity to the fourth positioning member 420 is smaller, and static electricity on the fourth positioning member 420 is not easily introduced into the square battery 210.

[0086] In general, by arranging the third insulating pad 431 and the fourth insulating pad 432, the risk of the square battery 210 leaking electricity to the positioning device is smaller, and the safety of the square battery 210 during positioning is higher.

[0087] Specifically, the material of the third insulating pad 431 can be plastic (such as bakelite), rubber, or silica gel, etc. The material of the fourth insulating pad 432 can be plastic (such as bakelite), rubber, or silica gel, etc.

[0088] In another embodiment, the third positioning member 440 is made of an insulating material as a whole, and the fourth positioning member 420 is made of an insulating material as a whole. Alternatively, the third positioning member 440 is made of an insulating material as a whole, and the fourth positioning member 420 is provided with a fourth insulating pad 432. Alternatively, the third positioning member 440 is provided with a third insulating pad 431, and the fourth positioning member 420 is made of an insulating material as a whole.

[0089] With reference to Figure 6 According to the second embodiment of the laser cleaning device of the present application, the laser device 600 is used to emit laser to perform laser cleaning on the square battery 210 clamped by the first positioning member 320, the second positioning member 330, the third positioning member 440 and the fourth positioning member 420 together.

[0090] According to the laser cleaning device of the present application, at least the following beneficial effects are achieved: by using the above positioning device, the laser cleaning device has stronger compatibility for the square battery 210.

[0091] The above embodiments of the present application are described in detail in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. Positioning device, characterized in that The base is provided with a bearing surface for bearing products; the included angle between the first direction and the second direction is greater than zero; the circumferential surface of the product comprises a first side surface, a second side surface, a third side surface and a fourth side surface; the first side surface and the second side surface are arranged side by side along the first direction; and the third side surface and the fourth side surface are arranged side by side along the second direction. The first positioning module comprises a first positioning member, a second positioning member, a first pressure sensor and a first driving assembly; the first driving assembly is used to drive the first positioning member and the second positioning member to move towards each other along the first direction, so that the first positioning member is in contact with the first side surface, and the second positioning member is in contact with the second side surface; the first driving assembly is also used to drive the first positioning member and the second positioning member to move away from each other along the first direction; the first pressure sensor is used to detect the pressure between the first positioning member and the first side surface, or the first pressure sensor is used to detect the pressure between the first positioning member and the first side surface and the pressure between the second positioning member and the second side surface. The second positioning module comprises a third positioning member, a fourth positioning member, a second pressure sensor and a second driving assembly; the second driving assembly is used to drive the third positioning member and the fourth positioning member to move towards each other along the second direction, so that the third positioning member is in contact with the third side surface, and the fourth positioning member is in contact with the fourth side surface; the second driving assembly is also used to drive the third positioning member and the fourth positioning member to move away from each other along the second direction; the second pressure sensor is used to detect the pressure between the third positioning member and the third side surface, or the second pressure sensor is used to detect the pressure between the third positioning member and the third side surface and the pressure between the fourth positioning member and the fourth side surface. The second positioning module further comprises:

2. The positioning device of claim 1, wherein, A distance measuring calibration block installed on the fourth positioning member; A visual calibration block installed on the fourth positioning member. The first pressure sensor comprises one of a strain gauge pressure sensor, a piezoelectric pressure sensor, a capacitive pressure sensor and a piezoresistive pressure sensor; and the second pressure sensor comprises one of a strain gauge pressure sensor, a piezoelectric pressure sensor, a capacitive pressure sensor and a piezoresistive pressure sensor.

3. The positioning device of claim 1, wherein, One first positioning member, one second positioning member, one third positioning member and one fourth positioning member form a working group; there are two or more working groups; and each working group is used to position at least one product; 4. The positioning device of claim 1, wherein, The first driving assembly is used to drive the first positioning member and the second positioning member in each working group to move towards each other along the first direction; and the first driving assembly is also used to drive the first positioning member and the second positioning member in each working group to move away from each other along the first direction. ​ The second driving assembly is configured to drive the third positioning member and the fourth positioning member in each of the working groups to move towards each other along the second direction; and the second driving assembly is also configured to drive the third positioning member and the fourth positioning member in each of the working groups to move away from each other along the second direction.

5. The positioning device of claim 4, wherein, The number of the working groups is two, three or four.

6. The positioning device of claim 1, wherein, The first positioning member is fixed to the base, and the first driving assembly is configured to drive the second positioning member to move towards or away from the first positioning member.

7. The positioning device of claim 6, wherein, The third positioning member is fixed to the base, and the second driving assembly is configured to drive the fourth positioning member to move towards or away from the third positioning member.

8. The positioning device according to any one of claims 1 to 7, characterized in that The first positioning assembly further comprises: A first insulation pad is installed on the first positioning member, and the first insulation pad is configured to contact the first side surface; A second insulation pad is installed on the second positioning member, and the second insulation pad is configured to contact the second side surface.

9. The positioning device of claim 8, wherein, The second positioning assembly further comprises: A third insulation pad is installed on the third positioning member, and the third insulation pad is configured to contact the third side surface; A fourth insulation pad is installed on the fourth positioning member, and the fourth insulation pad is configured to contact the fourth side surface.

10. Laser cleaning apparatus, characterized in that The positioning device comprises: The positioning device according to any one of claims 1 to 9; A laser device is configured to emit laser to perform laser cleaning on the product clamped by the first positioning member, the second positioning member, the third positioning member and the fourth positioning member together.

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