Laser cleaning equipment and construction method for bridge steel bar rust removal

Abstract

The present invention relates to a laser cleaning device and a construction method for rust removal of bridge steel bars, belonging to the technical field of laser cleaning and rust removal. A moving vehicle, a laser generating device and a clamping device are provided, wherein the clamping device is mounted on the moving vehicle, the laser generating device is provided on the clamping device, and the clamping device controls the movement of the laser generator. As the moving vehicle moves, the laser generating device starts to perform rust removal treatment on the bridge steel bars, thereby ensuring that the laser generating device can perform rust removal treatment on the bridge steel bars of the height at one time.

Description

Technical Field

[0001] The invention belongs to the technical field of laser cleaning and rust removal, and specifically relates to a laser cleaning device used for rust removal of bridge steel bars and a construction method thereof. Background Art

[0002] With the rapid development of social economy, laser cleaning can be used not only to clean organic pollutants, but also to clean inorganic substances, including metal rust, metal particles, dust, etc. The laser cleaning process depends on the characteristics of the light pulses generated by the laser. The principle of laser rust removal machine is mainly based on the fact that after the pollutants on the surface of the object absorb the laser energy, they will either vaporize and volatilize, or expand instantly due to heat, thus overcoming the surface's adsorption force on the particles and making them separate from the surface of the object, thereby achieving the purpose of cleaning. At present, the rust removal of bridge steel bars is carried out using laser cleaning equipment.

[0003] For example, the invention patent with patent application publication number: CN114602897A discloses a handheld laser rust removal device, in which one end of the laser rust removal head body is fixedly connected with a telescopic adjustment mechanism, the upper side of the laser rust removal head body is fixedly connected with a cooling shell, and a cooling mechanism is provided in the cooling shell, the lower side of the laser rust removal head body is fixedly connected with a flue gas treatment mechanism, one side of the laser rust removal head body is fixedly connected with a PLC controller, and the telescopic adjustment mechanism and the flue gas treatment mechanism are electrically connected to the PLC controller respectively.

[0004] Based on the search of patent application publication numbers and the shortcomings found therein:

[0005] The existing rust removal treatment for bridge steel bars is to use manual handheld laser cleaning equipment to remove the rust on the rusted bridge steel bars. During the movement of the manual handheld laser equipment, due to the limitation of hand-held, the laser cannot guarantee the effect of parallel movement during the movement, resulting in the rusted parts of the bridge steel bars needing to be moved back and forth by the manual handheld laser equipment many times, resulting in reduced speed and efficiency of rust removal. Summary of the invention

[0006] In order to solve the problem that the existing rust removal treatment for bridge steel bars is to use manual handheld laser cleaning equipment to remove the rust on the rusted bridge steel bars, during the movement of the manual handheld laser equipment, due to the limitation of handholding, the laser cannot ensure the effect of parallel movement during the movement, resulting in the position where the rusted bridge steel bars need to be moved back and forth many times by the manual handheld laser equipment, resulting in reduced speed and efficiency of rust removal. The present invention provides a laser cleaning equipment and a construction method for bridge steel bar rust removal.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] A laser cleaning device used for rust removal of bridge steel bars comprises a mobile vehicle, a laser generating device, a clamping device and a camera, wherein the clamping device is detachably mounted on the mobile vehicle, the output end of the clamping device clamps the laser generating device, the clamping device manipulates the movement of the laser generating device, the laser generating device performs a one-time rust removal treatment on the rusted positions of the bridge steel bars by emitting laser, the camera is arranged on the mobile vehicle, the camera and the output end of the laser generating device are located at the same height, the camera is used to detect whether there are rusted parts on the bridge steel bars at this height, the camera is communicatively connected to the output end of the laser generating device, and is used to control the opening and closing of the laser generating device.

[0009] As a preferred technical solution of the present invention, the clamping device includes a clamping tube with a hollow interior, a limit plate and a lifting rod. The clamping tube is vertically suspended at one end of the mobile vehicle close to the bridge steel bars through a connecting piece. The limit plate is coaxially arranged on the top of the clamping tube. The limit plate is coaxially provided with a limit slot. The lifting rod is coaxially arranged in the clamping tube and can be lifted and lowered. The top end of the lifting rod extends out of the limit slot and is connected to the laser generating device.

[0010] As a preferred technical solution of the present invention, the side wall inside the clamping tube is provided with a plurality of positioning slots at equal intervals along the direction of its central axis, and also includes a positioning rod, a positioning spring and a driving unit. A bottom slot is provided at the bottom of the lifting rod, and the central axis of the bottom slot is parallel to the central axis of the positioning slot. The positioning rod can be slidably coaxially arranged in the bottom slot, and the positioning spring is arranged in the bottom slot. The two ends of the positioning spring are respectively connected to the lifting rod and one end of the positioning rod, and the other end of the positioning rod can lock or release its connection with the positioning slot. The driving unit is arranged at the bottom of the clamping tube, and the driving unit is used to control the rise of the lifting rod.

[0011] As a preferred technical solution of the present invention, the vertical height of one end of the positioning rod close to the positioning slot gradually increases from the direction close to the central axis of the clamping tube, and the inner wall surface of the clamping tube is located in the increasing part of the vertical height of the positioning rod.

[0012] As a preferred technical solution of the present invention, the driving unit comprises a connecting plate, a vertical plate, a swing rod, a swing shaft, a swing spring and a telescopic assembly, the connecting plate is horizontally connected to the mobile vehicle body, the vertical plate is vertically connected to the connecting plate, the swing shaft is vertically arranged on the vertical plate, the bottom end of the swing rod is rotatably connected to the swing shaft coaxially, the swing rod can be slidably arranged on the swing shaft along the axial direction of the swing shaft, the two ends of the swing spring are respectively connected to the swing rod and the vertical plate, the driving unit also comprises a left limit block and a right limit block, the left limit block and the right limit block are respectively arranged at the two ends of the vertical plate, and the left limit block and the right limit block are respectively located at the two ends of the swing rod, and the two ends of the swing rod can lock or release its abutting matching relationship with the left limit block or the right limit block;

[0013] The telescopic assembly includes a telescopic rod, the connecting plate is provided with a connecting slot, the central axis of the connecting slot coincides with the central axis of the clamping tube, the telescopic rod is coaxially arranged on the connecting slot, the bottom end of the telescopic rod can lock or release its abutment with the top end of the swing rod, and the top end of the telescopic rod abuts with the bottom end of the lifting rod.

[0014] As a preferred technical solution of the present invention, both sides of the top of the swing rod are configured to be arcs, and the arc portion of the swing rod can lock or release its abutting matching relationship with the bottom end of the telescopic rod.

[0015] As a preferred technical solution of the present invention, the driving unit also includes a driving block, which is arranged on the wheel of the mobile vehicle. The two sides of the driving block at one end close to the swing rod are respectively arranged to be arcs, and the arc part of the driving block can lock or release its abutting matching relationship with the swing rod.

[0016] As a preferred technical solution of the present invention, the telescopic assembly also includes an electromagnetic generator and a pressure sensor, the telescopic rod includes a telescopic bottom rod and a telescopic top rod with a hollow interior, the telescopic bottom rod is slidably coaxially arranged on the connecting slot, the telescopic top rod is slidably coaxially arranged at the top inside the telescopic bottom rod, the telescopic top rod is abutted against the bottom end of the lifting rod, the telescopic bottom rod can lock or release its abutting relationship with the swing rod, the pressure sensor is arranged at the top of the telescopic top rod, the press sensor is used to detect the abutting force between the telescopic top rod and the lifting rod, and the electromagnetic generator is arranged in the telescopic bottom rod, for controlling the telescopic length between the telescopic top rod and the telescopic bottom rod.

[0017] A construction method of a laser cleaning device for bridge steel bar rust removal comprises the following steps:

[0018] S1: The mobile vehicle moves along the bridge steel bars to be derusted;

[0019] S2: The camera takes pictures and samples the bridge steel bars to determine whether the location needs rust removal;

[0020] S3: If not needed, the camera controls the laser generating device to be turned off; if needed, the camera controls the laser generating device to be turned on to perform a one-time rust removal treatment on the bridge steel bars at the location;

[0021] S4: During the movement of the mobile vehicle, the clamping device adjusts the height position of the laser generating device so that the laser generating device can remove rust from rusted parts of the bridge steel bars at different heights.

[0022] The beneficial effects of the present invention are:

[0023] This solution is provided with a mobile vehicle, a laser generating device and a clamping device. The clamping device is mounted on the mobile vehicle, and the laser generating device is arranged on the clamping device. The clamping device controls the movement of the laser generator. As the mobile vehicle moves, the laser generating device starts to remove the rust from the bridge steel bars, ensuring that the laser generating device can remove the rust from the bridge steel bars at the height at one time, solving the problem that the existing rust removal for bridge steel bars is to remove the rust from the rusted bridge steel bars by manually holding a laser cleaning device. During the movement of the manually holding laser device, due to the limitation of holding, the laser cannot guarantee the effect of parallel movement during the movement, resulting in the need for the manually holding the laser device to move back and forth multiple times at the rusted positions of the bridge steel bars, resulting in reduced speed and efficiency of rust removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0025] Figure 1 This is an overall diagram of a laser cleaning device used for rust removal of bridge steel bars according to the present invention;

[0026] Figure 2 This is an internal diagram of a clamping device of a laser cleaning device used for rust removal of bridge steel bars according to the present invention;

[0027] Figure 3 This is a front view of a driving unit of a laser cleaning device used for rust removal of bridge steel bars according to the present invention;

[0028] Figure 4 This is a side view of a driving unit of a laser cleaning device used for rust removal of bridge steel bars according to the present invention;

[0029] Figure 5 This is a diagram of the telescopic components of a laser cleaning device used for rust removal of bridge steel bars according to the present invention.

[0030] Description of main symbols

[0031] In the figure: 1. mobile vehicle; 2. laser generating device; 3. clamping device; 301. clamping tube; 3011. positioning slot; 302. limit plate; 303. lifting rod; 4. camera; 5. positioning rod; 6. positioning spring; 7. driving unit; 701. connecting plate; 702. vertical plate; 703. swing rod; 704. swing shaft; 705. swing spring; 8. left limit block; 9. right limit block; 10. driving block; 11. telescopic assembly; 1101. telescopic bottom rod; 1102. telescopic top rod; 1103. electromagnetic generator; 1104. press sensor. DETAILED DESCRIPTION

[0032] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0033] See also Figure 1-5 The present embodiment provides a laser cleaning device for rust removal of bridge steel bars, comprising a mobile vehicle 1, a laser generator 2, a clamping device 3 and a camera 4. The clamping device 3 is detachably mounted on the mobile vehicle 1. The output end of the clamping device 3 clamps the laser generator 2. The clamping device 3 manipulates the movement of the laser generator 2. The laser generator 2 performs a one-time rust removal treatment on the rusted position of the bridge steel bars by emitting laser. The camera 4 is arranged on the mobile vehicle 1. The camera 4 and the output end of the laser generator 2 are located at the same height. The camera 4 is used to detect whether there is a rusted part on the bridge steel bars. The camera 4 is connected to the output end of the laser generator 2 for communication and is used to control the opening and closing of the laser generator 2. The present solution is provided with a mobile vehicle 1, a laser generator 2, a clamping device 3 and a camera 4. 2 and a clamping device 3, the clamping device 3 is mounted on the mobile vehicle 1, the laser generating device 2 is arranged on the clamping device 3, the clamping device 3 controls the movement of the laser generator, and as the mobile vehicle 1 moves, the laser generating device 2 starts to remove the rust from the bridge steel bars, ensuring that the laser generating device 2 can remove the rust from the bridge steel bars at the height at one time, solving the problem of the existing rust removal for the bridge steel bars, which is to remove the rust from the rusted bridge steel bars by manually holding a laser cleaning device. In the process of moving the manually holding laser device, due to the limitation of holding, the laser cannot guarantee the effect of parallel movement during the movement, resulting in the need for the manually holding the laser device to move back and forth for multiple times at the rusted position of the bridge steel bars, resulting in the problem of reduced speed and efficiency of rust removal.

[0034] Furthermore, the clamping device 3 of the present scheme includes an internally hollow clamping tube 301, a limiting plate 302 and a lifting rod 303. The clamping tube 301 is vertically suspended at one end of the mobile vehicle 1 close to the bridge steel bars through a connecting piece. The limiting plate 302 is coaxially arranged on the top of the clamping tube 301. The limiting plate 302 is coaxially provided with a limiting slot. The lifting rod 303 is coaxially arranged in the clamping tube 301 and can be lifted and lowered. The top end of the lifting rod 303 extends out of the limiting slot and is connected to the laser generating device 2. The present scheme controls the lifting and lowering of the laser generating device 2 by providing a lifting rod 303.

[0035] Furthermore, in the present embodiment, the side wall inside the clamping tube 301 is provided with a plurality of positioning slots 3011 at equal intervals along the direction of its central axis, and also includes a positioning rod 5, a positioning spring 6 and a driving unit 7. A bottom slot is provided at the bottom of the lifting rod 303, and the central axis of the bottom slot is parallel to the central axis of the positioning slot 3011. The positioning rod 5 can be slidably coaxially arranged in the bottom slot, and the positioning spring 6 is arranged in the bottom slot. The two ends of the positioning spring 6 are respectively connected to the lifting rod 303 and one end of the positioning rod 5, and the other end of the positioning rod 5 can lock or release its connection with the positioning slot 3011. The driving unit 7 is arranged at the bottom of the clamping tube 301, and the driving unit 7 is used to control the rise of the lifting rod 303. In the present embodiment, the driving unit 7 is arranged, and the driving unit 7 can control the rise of the lifting rod 303 to realize the lifting and lowering of the laser generating device 2. In addition, the positioning rod 5 is arranged so that after the lifting rod 303 rises to a specified height, that is, after the positioning rod 5 reaches the positioning slot 3011 at a higher height, the positioning rod 5 will extend into the positioning slot 3011 at a higher height, thereby fixing the lifting rod 303 on the clamping tube 301.

[0036] In addition, in order to ensure the normal operation of the positioning rod 5, the vertical height of the end of the positioning rod 5 close to the positioning slot 3011 gradually increases from the direction of the central axis of the clamping tube 301, and the inner wall of the clamping tube 301 is located in the increasing part of the vertical height of the positioning rod 5; such an arrangement enables the positioning rod 5 to move in the direction of contraction in the bottom slot when the driving unit 7 of the present scheme drives the lifting rod 303 to move toward the top until the positioning rod 5 releases its matching relationship with the corresponding positioning slot 3011, and then the lifting rod 303 continues to move toward the top until the positioning rod 5 moves to the height of another positioning slot 3011, and then the positioning rod 5 is extended again and extends into the positioning slot 3011.

[0037] Specifically, the driving unit 7 of the present invention includes a connecting plate 701, a vertical plate 702, a swing rod 703, a swing shaft 704, a swing spring 705 and a telescopic assembly 11, wherein the connecting plate 701 is horizontally connected to the body of the mobile vehicle 1, the vertical plate 702 is vertically connected to the connecting plate 701, the swing shaft 704 is vertically arranged on the vertical plate 702, the bottom end of the swing rod 703 is rotatably connected to the swing shaft 704 coaxially, the swing rod 703 can be slidably arranged on the swing shaft 704 along the axial direction of the swing shaft 704, the two ends of the swing spring 705 are respectively connected to the swing rod 703 and the vertical plate 702, and the driving unit 7 also includes a left limit block 8 and a right limit block 8. The limit block 9, the left limit block 8 and the right limit block 9 are respectively arranged at the two ends of the vertical plate 702, and the left limit block 8 and the right limit block 9 are respectively located at the two ends of the swing rod 703, and the two ends of the swing rod 703 can lock or release its abutment with the left limit block 8 or the right limit block 9; in addition, the telescopic component 11 of the present scheme includes a telescopic rod, and the connecting plate 701 is provided with a connecting slot hole, the central axis of the connecting slot hole coincides with the central axis of the clamping tube 301, and the telescopic rod is coaxially arranged on the connecting slot hole, and the bottom end of the telescopic rod can be locked or released from its abutment with the top end of the swing rod 703, and the top end of the telescopic rod abuts with the bottom end of the lifting rod 303.

[0038] By providing a swing rod 703 and a telescopic rod, when the swing rod 703 is in a vertical state, the swing rod 703 drives the telescopic rod to move toward its top, so that the telescopic rod controls the lifting rod 303 to move toward the top. When the swing rod 703 is not in a vertical state, the swing rod 703 deviates to the left or right, and the swing rod 703 will abut against the left limit block 8 or the right limit block 9. It should be noted that when the swing rod 703 moves from the left limit block 8 to the right limit block 9, or moves from the right limit block 9 to the left limit block 8, there is a phenomenon that the swing rod 703 is transformed from an inclined state to a vertical state, and the length of the swing rod 703 projected on the vertical plane will gradually increase until the swing rod 703 is in a vertical state, at which time the length projected on the vertical plane will reach a maximum. It is worth noting that the difference between the length of the swing rod 703 projected on the vertical plane when the swing rod 703 and the telescopic rod just start to contact each other and the length of the swing rod 703 projected on the vertical plane when the swing rod 703 is in a vertical state is equal to the distance between two adjacent positioning slots 3011. In addition, it is also necessary to explain that in order to ensure the cooperation between the swing rod 703 and the telescopic rod of this solution, both sides of the top of the swing rod 703 of this solution are set to be arcs, and the arc part of the swing rod 703 can lock or release its cooperation relationship with the bottom end of the telescopic rod.

[0039] Specifically, the driving unit 7 of the present scheme also includes a driving block 10, which is arranged on the wheel of the mobile vehicle 1. The two sides of the end of the driving block 10 close to the swing rod 703 are respectively arranged to be arcs. The arc part of the driving block 10 can lock or release its abutment with the swing rod 703. Through such a setting, the rising of the lifting rod 303 of the present scheme is hooked with the steering of the wheel of the mobile vehicle 1. When the wheel of the mobile vehicle 1 rotates forward, the lifting rod 303 rises to a specified height; when the wheel of the mobile vehicle 1 rotates reversely, the lifting rod 303 rises to a specified height again.

[0040] It is worth mentioning that the device of this scheme is used in situations where the skeleton of the bridge reinforcement has just been erected at sea. Due to the presence of salt spray and water vapor at sea, the reinforcement of the bridge is easily corroded. Therefore, when the bridge reinforcement is just laid, it is necessary to use the device to perform a rust removal treatment on the bridge reinforcement, and then spray the bridge reinforcement with anti-corrosion paint. In order to speed up the laying of the road for the mobile vehicle 1 to travel, so that the mobile vehicle 1 can remove the rust of the bridge reinforcement as soon as possible, this scheme will lay a road for the mobile vehicle 1 to travel straight after the bridge reinforcement is erected, so as to facilitate the travel of the mobile vehicle 1 and remove the rust on the rusty reinforcement on the way. Therefore, the mobile vehicle 1 of this scheme needs to have a structure for moving straight forward and backward.

[0041] Specifically, the telescopic assembly 11 also includes an electromagnetic generator 1103 and a pressure sensor 1104. The telescopic rod of the present solution includes a telescopic bottom rod 1101 with a hollow interior and a telescopic top rod 1102. The telescopic bottom rod 1101 is slidably coaxially arranged on the connecting slot hole, and the telescopic top rod 1102 is slidably coaxially arranged at the top of the telescopic bottom rod 1101. The telescopic top rod 1102 is abutted against the bottom end of the lifting rod 303. The telescopic bottom rod 1101 can lock or release its abutment with the swing rod 703. The pressure sensor 1104 is arranged on the telescopic top rod 1 The top of the telescopic top rod 1102, the press sensor 1104 is used to detect the opposing force between the telescopic top rod 1102 and the lifting rod 303, and the electromagnetic generator 1103 is arranged in the telescopic bottom rod 1101, and is used to control the telescopic length between the telescopic top rod 1102 and the telescopic bottom rod 1101; the function of the electromagnetic generator 1103 of this scheme is to ensure that the telescopic top rod 1102 is always in contact with the bottom of the lifting rod 303 to ensure the normal operation of the device; it is worth noting that when the swing rod 703 swings, the swing rod 703 will drive the telescopic rod to move toward the top, Then, the telescopic rod controls the lifting rod 303 abutting against it to move toward the top. After the lifting rod 303 completes the movement, the bottom height of the lifting rod 303 will rise compared with before. At this time, the telescopic top rod 1102 releases the abutting relationship between it and the lifting rod 303. After the pressing sensor 1104 arranged on the telescopic top rod 1102 detects that the abutting force between the telescopic top rod 1102 and the lifting rod 303 is zero, the pressing sensor 1104 communicates with the electromagnetic generator 1103, and the electromagnetic generator 1103 starts to work, thereby enhancing the electromagnetic generator 1103. The electromagnetic force between the telescopic top rod 1102 and the lifting rod 303 is due to the structural limit of the telescopic bottom rod 1101 and the connecting slot hole. The telescopic bottom rod 1101 will not continue to descend after it descends to a certain height. At this time, the telescopic bottom rod 1101 returns to its original position, and the telescopic top rod 1102 moves toward the top due to the electromagnetic force until the pressure sensor 1104 re-detects that the telescopic top rod 1102 and the lifting rod 303 are re-coordinated, and the counteracting force between the telescopic top rod 1102 and the lifting rod 303 needs to be maintained within a certain numerical range.

[0042] A construction method of a laser cleaning device for bridge steel bar rust removal comprises the following steps:

[0043] S1: The mobile vehicle 1 moves along the bridge steel bars to be derusted;

[0044] S2: Camera 4 takes pictures and samples the bridge steel bars to determine whether the location needs rust removal;

[0045] S3: If not needed, the camera 4 controls the laser generating device 2 to turn off; if needed, the camera 4 controls the laser generating device 2 to turn on, and performs a one-time rust removal treatment on the bridge steel bars at the location;

[0046] S4: While the mobile vehicle 1 is moving, the clamping device 3 adjusts the height position of the laser generating device 2 so that the laser generating device 2 can remove rust from the rusted parts of the bridge steel bars at different heights.

[0047] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A laser cleaning device used for rust removal of bridge steel bars, characterized in that: It comprises a moving vehicle, a laser generating device, a clamping device and a camera. The clamping device is detachably mounted on the moving vehicle. The output end of the clamping device clamps the laser generating device. The clamping device controls the movement of the laser generating device. The laser generating device performs a one-time rust removal treatment on the rusted position of the bridge steel bar by emitting laser. The camera is arranged on the moving vehicle. The camera and the output end of the laser generating device are located at the same height. The camera is used to detect whether there is a rusted part on the bridge steel bar at the height. The camera is connected to the output end of the laser generating device for communication and is used to control the opening and closing of the laser generating device. The clamping device comprises a clamping tube with a hollow interior, a limiting plate and a lifting rod. The clamping tube is vertically suspended at one end of the mobile vehicle close to the bridge reinforcement through a connecting piece. The limiting plate is coaxially arranged on the top of the clamping tube. The limiting plate is coaxially provided with a limiting slot. The lifting rod is coaxially arranged in the clamping tube so as to be liftable. The top end of the lifting rod extends out of the limiting slot and is connected to the laser generating device. The side wall in the clamping tube is provided with a plurality of positioning slots at equal intervals along the direction of the central axis thereof, and further comprises a positioning rod, a positioning spring and a driving unit. The bottom of the lifting rod is provided with a bottom slot, the central axis of the bottom slot is arranged parallel to the central axis of the positioning slot, the positioning rod is slidably and coaxially arranged in the bottom slot, the positioning spring is arranged in the bottom slot, the two ends of the positioning spring are respectively connected to the lifting rod and one end of the positioning rod, the other end of the positioning rod can lock or release its connection relationship with the positioning slot, the driving unit is arranged at the bottom of the clamping tube, and the driving unit is used to control the rise of the lifting rod; The driving unit comprises a connecting plate, a vertical plate, a swing rod, a swing shaft, a swing spring and a telescopic assembly, the connecting plate is horizontally connected to the mobile vehicle body, the vertical plate is vertically connected to the connecting plate, the swing shaft is vertically arranged on the vertical plate, the bottom end of the swing rod is rotatably connected to the swing shaft coaxially, the swing rod can be slidably arranged on the swing shaft along the axial direction of the swing shaft, the two ends of the swing spring are respectively connected to the swing rod and the vertical plate, the driving unit also comprises a left limit block and a right limit block, the left limit block and the right limit block are respectively arranged at the two ends of the vertical plate, and the left limit block and the right limit block are respectively located at the two ends of the swing rod, and the two ends of the swing rod can lock or release its abutting matching relationship with the left limit block or the right limit block; The telescopic assembly includes a telescopic rod, the connecting plate is provided with a connecting slot, the central axis of the connecting slot coincides with the central axis of the clamping tube, the telescopic rod is coaxially arranged on the connecting slot, the bottom end of the telescopic rod can lock or release its abutment with the top end of the swing rod, and the top end of the telescopic rod abuts with the bottom end of the lifting rod.

2. The laser cleaning device for rust removal of bridge steel bars according to claim 1 is characterized in that: From the direction close to the central axis of the clamping tube, the vertical height of one end of the positioning rod close to the positioning slot gradually increases, and the inner wall surface of the clamping tube is located in the increasing part of the vertical height of the positioning rod.

3. The laser cleaning device for rust removal of bridge steel bars according to claim 1 is characterized in that: Both sides of the top of the swing rod are arranged to be circular arcs, and the circular arc portion of the swing rod can lock or release the abutting matching relationship between the swing rod and the bottom end of the telescopic rod.

4. The laser cleaning device for rust removal of bridge steel bars according to claim 1 is characterized in that: The driving unit also includes a driving block, which is arranged on the wheel of the mobile vehicle. Both sides of the driving block near one end of the swing rod are respectively arranged to be arcs, and the arc part of the driving block can lock or release its abutting matching relationship with the swing rod.

5. The laser cleaning device for rust removal of bridge steel bars according to claim 1 is characterized in that: The telescopic assembly also includes an electromagnetic generator and a pressure sensor. The telescopic rod includes a telescopic bottom rod and a telescopic top rod with a hollow interior. The telescopic bottom rod is slidably coaxially arranged on the connecting slot hole, and the telescopic top rod is slidably coaxially arranged at the top inside the telescopic bottom rod. The telescopic top rod is abutted against the bottom end of the lifting rod, and the telescopic bottom rod can lock or release the abutting relationship with the swing rod. The pressure sensor is arranged at the top of the telescopic top rod, and the pressure sensor is used to detect the abutting force between the telescopic top rod and the lifting rod. The electromagnetic generator is arranged in the telescopic bottom rod, and is used to control the telescopic length between the telescopic top rod and the telescopic bottom rod.

6. A construction method of a laser cleaning device for rust removal of bridge steel bars, applicable to the laser cleaning device for rust removal of bridge steel bars as claimed in any one of claims 1 to 5, characterized in that: The following steps are involved: S1: The mobile vehicle moves along the bridge steel bars to be derusted; S2: The camera takes pictures and samples the bridge steel bars to determine whether the location needs rust removal; S3: If not needed, the camera controls the laser generating device to be turned off; if needed, the camera controls the laser generating device to be turned on to perform a one-time rust removal treatment on the bridge steel bars at the location; S4: During the movement of the mobile vehicle, the clamping device adjusts the height position of the laser generating device so that the laser generating device can remove rust from rusted parts of the bridge steel bars at different heights.

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