Self-adaptive intelligent gluing device, equipment and method

Abstract

The invention discloses a self-adaptive intelligent gluing device, equipment and method. The device comprises a mounting frame; the moving assembly is arranged on the mounting frame, and the moving assembly is used for driving the mounting frame to move above the top surface of the H-shaped steel component in the axis direction of the H-shaped steel component; the first gluing mechanism is arranged on the mounting frame, and the first gluing mechanism is used for gluing along the upper surface of a top plate of the H-shaped steel component under the driving of the moving assembly; and the two second gluing mechanisms are connected to the mounting frame through connecting supports correspondingly, the two second gluing mechanisms are arranged below the mounting frame in a bilateral symmetry mode relative to the web plate of the H-shaped steel component, and the second gluing mechanisms are used for gluing along the upper surface of a bottom plate of the H-shaped steel component under driving of the moving assembly. The self-adaptive intelligent gluing device can adapt to uneven sites, can adapt to flexible deformation of workpieces, is suitable for manufacturing H-shaped steel of different sizes with errors within + / -3mm, and can realize large-area blade coating by quickly replacing the gluing mechanism.

Description

Technical Field

[0001] The invention relates to the field of automatic gluing equipment for steel components, and in particular to a self-adaptive intelligent gluing device, equipment and method. Background Art

[0002] Steel structure workpieces are heavy, difficult to move and transport, factory facilities are backward, the ground is not flat, there are a lot of dust or paint residues and other debris, the project production pace of the construction site is fast, and the factory turnover rate is high. These problems make it difficult to use equipment and are in a state of manual construction for a long time.

[0003] The sealant scraping, dispensing or filling equipment on the market are all small flow, belonging to small area scraping. Some cases of large flow filling are all because the sealant materials have self-leveling properties, mainly concentrated in the new energy industry, but there are no cases of large flow scraping for high viscosity sealants with low self-leveling properties.

[0004] Manual scraping often results in incorrect sealant mixing ratios, which leads to sealant failure, or improper operation, which causes the scraped sealant coating to be full of bubbles and scratches, etc., seriously affecting the appearance and quality.

[0005] At present, this type of coating equipment does not have the function of automatic online thickness measurement. Basically, it uses a steel ruler to measure during coating and uses the slicing method to measure after drying.

[0006] There is no similar large-flow instant mixing and scraping equipment available for purchase on the market. Summary of the invention

[0007] In response to the above technical problems, the present invention proposes an adaptive intelligent gluing device, equipment and method. The adaptive intelligent gluing device and equipment can adapt to the unevenness of the site and the flexible deformation of the workpiece. It is suitable for H-shaped steels of different sizes within a manufacturing error of ±3mm, and large-area scraping can be achieved by quickly replacing the gluing mechanism.

[0008] In order to achieve the above technical objectives, the present invention adopts the following technical means: An adaptive intelligent gluing device, comprising: Mounting frame; A moving assembly is arranged on the mounting frame, and the moving assembly is used to drive the mounting frame to move above the top surface of the H-shaped steel member along the axis direction of the H-shaped steel member; A first gluing mechanism, arranged on the mounting frame, and used for applying glue along the upper surface of the top plate of the H-shaped steel member driven by the moving assembly; At least one group of second gluing mechanisms, each group includes two second gluing mechanisms, the two second gluing mechanisms are respectively connected to the mounting frame through connecting brackets, the two second gluing mechanisms are arranged symmetrically with the web of the H-shaped steel member below the mounting frame, and the second gluing mechanisms are used to apply glue along the upper surface of the bottom plate of the H-shaped steel member under the drive of the moving assembly; A width adjustment component is provided between the connecting bracket and the mounting frame, and the width adjustment component is used to adjust the gap width between the two second gluing mechanisms; A distance detection sensor is used to detect in real time whether the two second glue coating mechanisms are aligned when they move along the axial direction of the H-shaped steel member; A thickness sensor, mounted on the mounting frame, for real-time detection of the glue coating thickness of the first glue coating mechanism and the glue coating thickness of the second glue coating mechanism; The first glue coating mechanism comprises: a first glue storage box, a first scraper, and a first vertical telescopic unit connected between the first glue storage box and the first scraper, wherein the first vertical telescopic unit is used to adjust the height of the first scraper on the first glue coating mechanism to adjust the thickness of glue coated by the first glue coating mechanism; A height adjustment component is arranged between the connecting bracket and the second gluing mechanism, and the height adjustment component is used to adjust the height of the two second gluing mechanisms to adjust the thickness of the glue applied by the second gluing mechanisms; The control module has a signal input end connected to the distance detection sensor and the thickness sensor signal, and a signal output end connected to the moving component, the first vertical telescopic unit and the width adjustment component signal.

[0009] The first gluing mechanism comprises: A first glue storage box is provided with a first glue inlet, the first glue inlet is connected to a first glue delivery pipe, and the bottom of the first glue storage box is gradually reduced to form a first glue outlet; A first scraper having a vertical slide groove thereon, a protrusion is provided on the front wall of the first glue storage box near the first glue outlet, and the vertical slide groove on the first scraper cooperates with the protrusion to realize up and down movement relative to the first glue storage box; A first vertical telescopic unit is fixed to the upper portion of the front wall of the first glue storage box, and its vertical telescopic rod is connected to the first scraper; The two second glue coating mechanisms have the same structure, and both include: A second glue storage box is provided with a second glue inlet, and the second glue inlet is connected to a second glue delivery pipe; The bottom of the second glue storage box is gradually reduced to form a second glue outlet; The second scraper is fixed on the front wall of the second glue storage box and is located below the second glue outlet.

[0010] The moving component is a moving trolley installed in the middle of the mounting frame.

[0011] The width adjustment assembly comprises: A mounting seat, fixed on the moving assembly; A bidirectional output reducer is installed on the mounting seat, and the two output shafts of the bidirectional output reducer are respectively connected to a section of screw rod, namely a first screw rod and a second screw rod, and the first screw rod and the second screw rod have different rotation directions, wherein the first movable nut on the first screw rod is connected to the first connecting bracket on the second glue coating mechanism located on one side of the H-shaped steel member, and the second movable nut on the second screw rod is connected to the second connecting bracket on the second glue coating mechanism located on the other side of the H-shaped steel member.

[0012] The height adjustment assembly comprises: A second vertical telescopic unit is fixedly mounted on the connecting bracket, and a telescopic rod of the second vertical telescopic unit is arranged vertically; A connecting transition piece has one side fixedly connected to the telescopic rod of the second vertical telescopic unit and the other side connected to the second glue coating mechanism.

[0013] A vertical guide rail pair for guiding the vertical movement of the second glue coating mechanism is provided between the connecting bracket and the connecting transition piece.

[0014] The connecting transition piece comprises: A first connecting plate, connected to the connecting bracket via the vertical guide rail pair, an anti-overflow rubber baffle being provided at the end of the first connecting plate; A second connecting plate, one side of which is fixedly connected to the second glue coating mechanism, and the other side of which is connected to the first connecting plate via a transverse guide rail pair; The elastic telescopic member is arranged between the anti-overflow glue baffle of the first connecting plate and the slider in the transverse guide rail pair of the second connecting plate. Under the elastic force of the elastic telescopic member, the second glue coating mechanism can be in tight contact with the web of the H-shaped steel.

[0015] The mounting frame is symmetrically provided with guide side wheels on the left and right sides of the upper top plate of the H-shaped steel member, and the wheel axles of the guide side wheels are fixedly connected to the moving nuts of the screw rod.

[0016] The present invention further discloses a glue coating device applied to a steel structure, comprising a walking gantry, a crawler walking part is provided at the bottom of the walking gantry, a glue supply component and the adaptive intelligent glue coating device are provided inside the walking gantry, and the first glue coating mechanism and two second glue coating mechanisms are respectively connected to the glue supply component through glue supply hoses; A monitoring camera is installed on the top crossbeam of the walking gantry; The distance detection sensor is a laser sensor fixedly mounted on a gantry on one side of the walking gantry.

[0017] The present invention further discloses an adaptive intelligent gluing method for steel structures. Based on the gluing device, the crawler walking part at the bottom of the walking gantry and the moving component on the adaptive intelligent gluing device are synchronously started to make the crawler walking part and the moving component move synchronously. Start the glue supply assembly, use the first glue coating mechanism to apply glue along the upper surface of the top plate of the H-shaped steel member, and use the two second glue coating mechanisms to apply glue along the upper surface of the bottom plate of the H-shaped steel member; Using the thickness measuring sensor to detect the glue coating thickness of the first glue coating mechanism and the glue coating thickness of the second glue coating mechanism in real time; The first vertical telescopic unit is used to adjust the height of the first scraper on the first glue coating mechanism to adjust the thickness of the glue coated by the first glue coating mechanism; The height of the two second gluing mechanisms is adjusted by using a height adjustment component to adjust the thickness of the glue applied by the second gluing mechanisms; The distance detection sensor is used to detect in real time whether the two second gluing mechanisms are aligned when they move along the axial direction of the H-shaped steel member; if they are not aligned, the width of the gap between the two second gluing mechanisms is adjusted by the width adjustment component; The monitoring camera is used to collect real-time images of the adaptive intelligent gluing device and the surface of the steel structure after gluing. When there is a blind spot in the field of vision during the rotation or walking of the gluing equipment, the gluing equipment is guided to ensure the safety of the equipment during operation. Beneficial Effects

[0018] The working efficiency is greatly improved. The working efficiency of gluing the surface of H-shaped steel by using the gluing equipment applied to steel structure disclosed by the present invention is 8 to 10 times that of manual gluing, and the gluing quality is high and there are no bubbles.

[0019] The walking gantry of the present invention achieves a certain obstacle crossing capability through a crawler chassis and reduces the requirement for the flatness of the workshop floor. The feeding and power supply control of the adaptive intelligent gluing device is realized through the flexible connection of the pipeline and the wire pipe, so that the adaptive intelligent gluing device can move smoothly relative to the steel structure workpiece without being affected by the flatness of the ground and the shaking of the vehicle when crossing obstacles.

[0020] Third, by installing cameras on the top of the crawler frame and adding an integrated image processor in the electrical control cabinet, a 360-degree panoramic image of the adaptive intelligent gluing device can be achieved, solving the problem of needing other personnel to guide in blind spots during rotation or walking, thereby ensuring the safety of the equipment during operation.

[0021] Fourth, by installing a laser sensor on the inside of the walking gantry, it is ensured that the walking gantry moves forward in the center along the workpiece guide, solving the problem that the previous magnetic strip or ground rail guidance method needs to be laid in advance and occupies the site utilization rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a front view of the self-adaptive intelligent gluing device of the present invention; Among them, (1, 2), first glue inlet; (3, 4), second glue inlet; 5, hand wheel; 6, first glue storage box; (7, 8), second glue storage box; (9, 10), first vertical telescopic unit; (11, 12), second vertical telescopic unit; (13, 14), transmission screw; 15, first scraper; 16, fixed connecting piece; 17, guide side wheel; 18, vertical guide rail; 19, connecting bracket; Figure 2 for Figure 1 A top view of Among them, 20, screw rod; 21, nut moving pair; 22, horizontal transmission fixing piece; 23, coupling; 24, mobile trolley motor; 25, two-way output reducer; 26, planetary reducer; 27, synchronous gear; 28, mobile wheel on mobile trolley; 34, thickness sensor; Figure 3 A three-dimensional diagram of the self-adaptive intelligent gluing device of the present invention; Figure 4 for Figure 3 A partial enlarged schematic diagram of Among them, (29, 30), transverse slide rail; 31, second connecting plate; 32, spring; 33, anti-overflow glue baffle; Figure 5 for Figure 1 Side view of Figure 6 for Figure 5 A partial enlarged schematic diagram of Figure 7 It is a structural schematic diagram of the glue coating equipment of the present invention; Among them, 35, walking gantry; 36, monitoring camera; 37, rubber hose; 38, touch screen; 39, observation window; 40, distance detection sensor; 41, emergency button; 42, plug-in interface; 43, crawler walking part; Figure 8 It is a stereoscopic diagram of the gluing device of the present invention. DETAILED DESCRIPTION

[0023] The technical solution of the present invention is further described in detail below in conjunction with specific embodiments and the accompanying drawings so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0024] An adaptive intelligent gluing device, comprising: Mounting frame; A moving assembly is arranged on the mounting frame, and the moving assembly is used to drive the mounting frame to move above the top surface of the H-shaped steel member along the axis direction of the H-shaped steel member; A first gluing mechanism, arranged on the mounting frame, and used for applying glue along the upper surface of the top plate of the H-shaped steel member driven by the moving assembly; Two second gluing mechanisms are connected to the mounting frame through connecting brackets, respectively, and the two second gluing mechanisms are arranged symmetrically with respect to the web of the H-shaped steel member below the mounting frame, and the second gluing mechanisms are used to apply glue along the upper surface of the bottom plate of the H-shaped steel member under the drive of the moving assembly; A width adjustment component is provided between the connecting bracket and the mounting frame, and the width adjustment component is used to adjust the gap width between the two second gluing mechanisms; The distance detection sensor 40 is used to detect in real time whether the two second glue coating mechanisms are aligned when moving along the axial direction of the H-shaped steel member; A thickness sensor 34, mounted on the mounting frame, for real-time detection of the glue coating thickness of the first glue coating mechanism and the glue coating thickness of the second glue coating mechanism; The first glue coating mechanism comprises: a first glue storage box 6, a first scraper 15, and a first vertical telescopic unit connected between the first glue storage box 6 and the first scraper 15, wherein the first vertical telescopic unit is used to adjust the height of the first scraper 15 on the first glue coating mechanism to adjust the thickness of the glue coated by the first glue coating mechanism; A height adjustment component is provided between the connecting bracket 19 and the second gluing mechanism, and the height adjustment component is used to adjust the height of the two second gluing mechanisms to adjust the thickness of the glue applied by the second gluing mechanisms; The control module has a signal input end connected to the distance detection sensor 40 and the thickness sensor 34, and a signal output end connected to the moving component, the first vertical telescopic unit and the width adjustment component.

[0025] As a further preferred embodiment of the technical solution of embodiment 1, the first gluing mechanism includes: A first glue storage box 6, on which a first glue inlet is provided, the first glue inlet is connected to a first glue delivery pipe, and the bottom of the first glue storage box is gradually reduced to form a first glue outlet; A first scraper 15 is provided with a vertical slide groove, and a screw is provided on the front wall of the first glue storage box 6 near the first glue outlet, and the screw can pass through the vertical slide groove; A first vertical telescopic unit is fixed to the upper portion of the front wall of the first glue storage box 6, and its vertical telescopic rod is connected to the first scraper 15; The two second glue coating mechanisms have the same structure, and both include: a second glue storage box, which is provided with a second glue inlet, and the second glue inlet is connected to a second glue delivery pipe; the bottom of the second glue storage box is gradually reduced to form a second glue outlet.

[0026] In Embodiment 1 of the present invention, the moving component is a moving trolley installed in the middle of the mounting frame.

[0027] As a further preferred embodiment of the technical solution of Embodiment 1 of the present invention, the width adjustment component includes: A mounting seat, fixed on the moving assembly; A bidirectional output reducer 25 is installed on the mounting seat, and the two output shafts of the bidirectional output reducer 25 are respectively connected to a section of screw rod 20, which are the first screw rod and the second screw rod respectively. The first screw rod and the second screw rod have different rotation directions, wherein the first movable nut pair on the first screw rod is connected to the first connecting bracket on the second gluing mechanism located on one side of the H-shaped steel member, and the second movable nut pair on the second screw rod is connected to the second connecting bracket on the second gluing mechanism located on the other side of the H-shaped steel member.

[0028] As a preferred embodiment of the present invention, the bidirectional output reducer adopts a handwheel type RV reducer, and the handwheel type RV reducer is provided with a handwheel 5.

[0029] The difference between this embodiment and embodiment 1 is that a height adjustment component is provided between the connecting bracket 19 and the second gluing mechanism, and the height adjustment component is used to adjust the height of the two second gluing mechanisms to determine the thickness of the gluing, including: A second vertical telescopic unit is fixedly mounted on the connecting bracket, and a telescopic rod of the second vertical telescopic unit is arranged vertically; A connecting transition piece has one side fixedly connected to the telescopic rod of the second vertical telescopic unit and the other side connected to the second glue coating mechanism.

[0030] A vertical guide rail pair for guiding the vertical movement of the second glue coating mechanism is provided between the connecting bracket 19 and the connecting transition piece.

[0031] The difference between the third embodiment and the first and second embodiments is that the connecting transition piece comprises: A first connecting plate connected to the connecting bracket via the vertical guide rail pair; A second connecting plate 31, one side of which is fixedly connected to the second glue coating mechanism, and the other side of which is connected to the first connecting plate via a transverse guide rail pair; The spring 32 is arranged between the anti-overflow glue baffle 33 of the first connecting plate and the slider in the transverse guide pair on the second connecting plate 31. Under the elastic force of the spring 32, the second glue coating mechanism can be in tight contact with the web of the H-shaped steel.

[0032] The mounting frame is symmetrically provided with guide side wheels 17 on the left and right sides of the upper top plate of the H-shaped steel member, and the wheel axle of the guide side wheel 17 is fixedly connected to the nut moving pair of the screw rod 20.

[0033] The present invention further discloses a glue coating device applied to steel structures, including a walking gantry 35, wherein a crawler walking part 43 is provided at the bottom of the walking gantry. The crawler walking part 43 achieves a certain obstacle crossing capability and reduces the requirement for the flatness of the workshop floor.

[0034] The walking gantry 35 is provided with a glue supply component and the adaptive intelligent glue coating device, and the first glue coating mechanism and the two second glue coating mechanisms are connected to the glue supply component through glue supply hoses respectively; A monitoring camera 36 is installed on the top crossbeam of the walking gantry 35 to collect real-time images of the steel structure surface after gluing. By installing cameras on the top of the walking gantry 35 and adding an integrated image processor in the electrical control cabinet, a 360-degree panoramic image of the adaptive intelligent gluing device is achieved, which solves the problem of needing other personnel to guide in blind spots during rotation or walking, thereby ensuring the safety of the equipment during operation.

[0035] The thickness sensor of the present invention is a laser thickness sensor, which is installed on the mounting frame and is used to detect the glue coating thickness of the first glue coating mechanism and the glue coating thickness of the second glue coating mechanism in real time; Preferably, the distance detection sensor 40 is a laser sensor fixedly mounted on a gantry on one side of the traveling gantry.

[0036] An adaptive intelligent gluing method for steel structure, based on the gluing device, Synchronously start the crawler walking part at the bottom of the walking gantry and the moving component on the adaptive intelligent glue coating device, so that the crawler walking part and the moving component move synchronously; Start the glue supply assembly, use the first glue coating mechanism to apply glue along the upper surface of the top plate of the H-shaped steel member, and use the two second glue coating mechanisms to apply glue along the upper surface of the bottom plate of the H-shaped steel member; The thickness sensor 34 is used to detect the glue coating thickness of the first glue coating mechanism and the glue coating thickness of the second glue coating mechanism in real time; The first vertical telescopic unit is used to adjust the height of the first scraper 15 on the first glue coating mechanism to adjust the thickness of the glue coated by the first glue coating mechanism; The height of the two second gluing mechanisms is adjusted by using a height adjustment component to adjust the thickness of the glue applied by the second gluing mechanisms; The distance detection sensor 40 is used to detect in real time whether the two second gluing mechanisms are aligned when they move along the axial direction of the H-shaped steel member; if they are not aligned, the width of the gap between the two second gluing mechanisms is adjusted by the width adjustment component; The monitoring camera 36 is used to collect real-time images of the adaptive intelligent gluing device and the surface of the steel structure after gluing. When there is a blind spot in the field of vision during the rotation or movement of the gluing equipment, the gluing equipment is guided to ensure the safety of the equipment during operation.

[0037] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. An adaptive intelligent gluing device, characterized in that: include: Mounting frame; A moving assembly is arranged on the mounting frame, and the moving assembly is used to drive the mounting frame to move above the top surface of the H-shaped steel member along the axis direction of the H-shaped steel member; A first gluing mechanism, arranged on the mounting frame, and used for applying glue along the upper surface of the top plate of the H-shaped steel member driven by the moving assembly; At least one group of second gluing mechanisms, each group includes two second gluing mechanisms, the two second gluing mechanisms are respectively connected to the mounting frame through connecting brackets, the two second gluing mechanisms are arranged symmetrically with the web of the H-shaped steel member below the mounting frame, and the second gluing mechanisms are used to apply glue along the upper surface of the bottom plate of the H-shaped steel member under the drive of the moving assembly; A width adjustment component is provided between the connecting bracket and the mounting frame, and the width adjustment component is used to adjust the gap width between the two second gluing mechanisms; A distance detection sensor is used to detect in real time whether the two second glue coating mechanisms are aligned when they move along the axial direction of the H-shaped steel member; A thickness sensor, mounted on the mounting frame, for real-time detection of the glue coating thickness of the first glue coating mechanism and the glue coating thickness of the second glue coating mechanism; The first glue coating mechanism comprises: a first glue storage box, a first scraper, and a first vertical telescopic unit connected between the first glue storage box and the first scraper, wherein the first vertical telescopic unit is used to adjust the height of the first scraper on the first glue coating mechanism to adjust the thickness of glue coated by the first glue coating mechanism; A height adjustment component is arranged between the connecting bracket and the second gluing mechanism, and the height adjustment component is used to adjust the height of the two second gluing mechanisms to adjust the thickness of the glue applied by the second gluing mechanisms; The control module has a signal input end connected to the distance detection sensor and the thickness sensor signal, and a signal output end connected to the moving component, the first vertical telescopic unit and the width adjustment component signal.

2. The adaptive intelligent gluing device according to claim 1, characterized in that: The first gluing mechanism comprises: A first glue storage box is provided with a first glue inlet, the first glue inlet is connected to a first glue delivery pipe, and the bottom of the first glue storage box is gradually reduced to form a first glue outlet; A first scraper having a vertical slide groove thereon, a protrusion is provided on the front wall of the first glue storage box near the first glue outlet, and the vertical slide groove on the first scraper cooperates with the protrusion to realize up and down movement relative to the first glue storage box; A first vertical telescopic unit is fixed to the upper portion of the front wall of the first glue storage box, and its vertical telescopic rod is connected to the first scraper; The two second glue coating mechanisms have the same structure, and both include: A second glue storage box is provided with a second glue inlet, and the second glue inlet is connected to a second glue delivery pipe; The bottom of the second glue storage box is gradually reduced to form a second glue outlet; The second scraper is fixed on the front wall of the second glue storage box and is located below the second glue outlet.

3. The adaptive intelligent gluing device according to claim 1, characterized in that: The moving component is a moving trolley installed in the middle of the mounting frame.

4. The adaptive intelligent gluing device according to claim 1, characterized in that: The width adjustment assembly comprises: A mounting seat, fixed on the moving assembly; A bidirectional output reducer is installed on the mounting seat, and the two output shafts of the bidirectional output reducer are respectively connected to a section of screw rod, namely a first screw rod and a second screw rod, and the first screw rod and the second screw rod have different rotation directions, wherein the first movable nut on the first screw rod is connected to the first connecting bracket on the second glue coating mechanism located on one side of the H-shaped steel member, and the second movable nut on the second screw rod is connected to the second connecting bracket on the second glue coating mechanism located on the other side of the H-shaped steel member.

5. The adaptive intelligent gluing device according to claim 1, characterized in that: The height adjustment assembly comprises: A second vertical telescopic unit is fixedly mounted on the connecting bracket, and a telescopic rod of the second vertical telescopic unit is arranged vertically; A connecting transition piece has one side fixedly connected to the telescopic rod of the second vertical telescopic unit and the other side connected to the second glue coating mechanism.

6. The adaptive intelligent gluing device according to claim 5, characterized in that: A vertical guide rail pair for guiding the vertical movement of the second glue coating mechanism is provided between the connecting bracket and the connecting transition piece.

7. The adaptive intelligent gluing device according to claim 6, characterized in that: The connecting transition piece comprises: A first connecting plate, connected to the connecting bracket via the vertical guide rail pair, an anti-overflow rubber baffle being provided at the end of the first connecting plate; A second connecting plate, one side of which is fixedly connected to the second glue coating mechanism, and the other side of which is connected to the first connecting plate via a transverse guide rail pair; The elastic telescopic member is arranged between the anti-overflow glue baffle of the first connecting plate and the slider in the transverse guide rail pair of the second connecting plate. Under the elastic force of the elastic telescopic member, the second glue coating mechanism can be in tight contact with the web of the H-shaped steel.

8. The adaptive intelligent gluing device according to claim 4, characterized in that: The mounting frame is symmetrically provided with guide side wheels on the left and right sides of the upper top plate of the H-shaped steel member, and the wheel axles of the guide side wheels are fixedly connected to the moving nuts of the screw rod.

9. A glue coating device for steel structure, comprising a walking gantry, a crawler walking part is provided at the bottom of the walking gantry, a glue supply component is provided inside the walking gantry, and the adaptive intelligent glue coating device as claimed in any one of claims 1 to 8 is characterized in that: The first glue coating mechanism and the two second glue coating mechanisms are respectively connected to the glue supply assembly through glue supply hoses; A monitoring camera is installed on the top crossbeam of the walking gantry; The distance detection sensor is a laser sensor fixedly mounted on a gantry on one side of the walking gantry.

10. An adaptive intelligent gluing method for steel structure, based on the gluing device according to claim 9, characterized in that: Synchronously start the crawler walking part at the bottom of the walking gantry and the moving component on the adaptive intelligent glue coating device, so that the crawler walking part and the moving component move synchronously; Start the glue supply assembly, use the first glue coating mechanism to apply glue along the upper surface of the top plate of the H-shaped steel member, and use the two second glue coating mechanisms to apply glue along the upper surface of the bottom plate of the H-shaped steel member; Using the thickness measuring sensor to detect the glue coating thickness of the first glue coating mechanism and the glue coating thickness of the second glue coating mechanism in real time; The first vertical telescopic unit is used to adjust the height of the first scraper on the first glue coating mechanism to adjust the thickness of the glue coated by the first glue coating mechanism; The height of the two second gluing mechanisms is adjusted by using a height adjustment component to adjust the thickness of the glue applied by the second gluing mechanisms; The distance detection sensor is used to detect in real time whether the two second gluing mechanisms are aligned when they move along the axial direction of the H-shaped steel member; if they are not aligned, the width of the gap between the two second gluing mechanisms is adjusted by the width adjustment component; The monitoring camera is used to collect real-time images of the adaptive intelligent gluing device and the surface of the steel structure after gluing. When there is a blind spot in the field of vision during the rotation or walking of the gluing equipment, the gluing equipment is guided to ensure the safety of the equipment during operation.

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