Automatic mounting equipment and method for steel structure roof rod piece

Abstract

The invention discloses automatic mounting equipment and method for steel structure roof rod pieces. The equipment comprises a rod piece discharging bin. The rod piece limiting and discharging device is arranged below the rod piece discharging bin; the moving trolley is arranged below the rod piece limiting and discharging device; the mounting mechanical arm is arranged on the moving trolley; the nut automatic discharging bin and the nut tightening device are arranged on the two sides of the moving trolley, after the mechanical arm installs a rod piece into a hole site between purlins, nuts stored in the nut automatic discharging bin are automatically discharged into the nut tightening device, the hole site of a bolt is automatically positioned, the nuts are tightened, and rod piece installation is completed. According to the equipment, the automatic positioning and automatic mounting functions are achieved, the mounting efficiency of the small roof rod pieces is greatly improved, the working intensity of constructors is reduced, potential safety hazards caused by high-altitude operation of the constructors are avoided, and intelligentization and automation of mounting of the small rod pieces are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of steel structure plant construction equipment, and in particular to automatic installation equipment for steel structure roof rods. Background Art

[0002] With the rapid development of modern construction industry, steel structure is widely used in industrial plants, high-rise buildings, bridges and other projects due to its advantages of high strength, light weight and fast construction speed. In the construction process of steel structure, the installation of small roof rods is a key link, which is related to the stability and bearing capacity of the whole structure. The traditional installation of small roof rods relies on manual operation, which is not only inefficient, but also high-altitude operation risk, posing a threat to the safety of construction workers.

[0003] In order to improve construction efficiency and safety, some automation technologies have been applied to the installation of small rods on steel structure roofs. These technologies usually include mechanized discharging systems, semi-automatic positioning and installation equipment, and some auxiliary construction platforms. There are two normal methods for installing roof tie rods: one is to set up an operating surface below the roof purlin, set up a fixed rack or a mobile rack, install a section tie rod, move the rack once, and repeat the two processes of installing a section tie rod and moving the rack continuously until all the tie rods are installed; the other method is to set up an operating surface above the roof purlin, set up a full-length auxiliary platform on one side of the roof, after installing an section tie rod, the construction personnel move from the auxiliary platform to the purlin and push the auxiliary platform to the next section, and then install another section tie rod until all the section tie rods are installed, and set a safety rope on the auxiliary platform, the safety rope is bolted to each railing upright, and the construction personnel's safety belt slides on the safety rope to increase the safety of the construction personnel. Since each railing upright is bolted with a safety rope bolt point, the safety belt rope buckle needs to be untied when passing the railing upright, and the safety belt rope buckle is re-fastened after passing the railing upright, and this process is repeated.

[0004] However, the existing technology still has many shortcomings, which are mainly manifested in the following aspects: 1) Many installation processes still rely on manual operation and cannot be fully automated, resulting in limited efficiency improvement; 2) The risk of working at heights still exists, and the safety of construction workers during the installation process is difficult to be fully guaranteed; 3) Existing equipment is often designed for specific types of rods or structures, and is not adaptable to rods of different shapes and sizes or complex environments; 4) Manual operation can easily lead to low installation accuracy, and the operation speed is limited by the workers' skills and physical strength; 5) Some automated equipment is complex to operate and requires professional maintenance, which increases the cost of use and maintenance. Summary of the invention

[0005] In view of the above defects or improvement needs of the prior art, the purpose of the present invention is to provide an automatic installation device and method for steel structure roof rods. The device freely moves horizontally on the purlins through a mobile trolley, and the cameras and laser locators on both sides of the integrated machine confirm the specific position of the rod installation. The mechanical arm accurately grabs the rod on the discharge limit device at the bottom of the discharge bin and installs it to the fixed hole position, and cooperates with the nut automatic tightening device to fix the nut to the screw rod, realizing the automatic positioning and automatic installation functions, greatly improving the efficiency of the installation of small roof rods, reducing the work intensity of construction personnel, avoiding the safety hazards caused by high-altitude operations, and realizing the intelligent and automatic installation of small rods, making the entire construction process more convenient and efficient. In addition, the present invention also has the characteristics of easy assembly, intelligent control, and convenient loading without manual intervention. It effectively avoids the many problems such as low efficiency and high safety risks caused by frequent up and down movement in traditional installation methods, and realizes the rapid and accurate installation of small rods, thereby shortening the construction period of the entire project.

[0006] According to a first aspect of the present invention, there is provided an automatic installation device for steel structure roof rods, comprising:

[0007] Rod discharging bin;

[0008] A rod-limiting discharging device provided below the rod-discharging bin;

[0009] A movable trolley provided below the rod limiting discharging device is used to support the equipment to move horizontally between the purlins;

[0010] An installation mechanical arm provided on the mobile trolley is used to grab the rod on the rod limiting device and install it into the hole between the purlins;

[0011] a nut installation unit provided on both sides of the mobile vehicle, the nut installation unit comprising an automatic nut discharging bin and a nut tightening device; and

[0012] The positioning unit provided on the nut installation unit obtains position information through the positioning unit, and the robotic arm automatically grabs the rod on the rod limiting discharge device and installs it into the hole position, and the nuts stored in the nut automatic discharge bin are automatically unloaded into the nut tightening device, and the nut tightening device is started to tighten the nuts to complete the installation of the rod.

[0013] Furthermore, the rod member discharging bin is also provided with a discharging port, and the rod member discharging bin discharges the rod members pre-filled therein in an orderly manner into the rod member position limiting discharging device through the discharging port.

[0014] Furthermore, the positioning unit includes a monitoring camera arranged between the nut tightening device and the nut automatic discharging bin.

[0015] Furthermore, the positioning unit also includes a laser positioning device arranged inside the nut tightening device.

[0016] Furthermore, a support frame is connected between the rod discharging bin and the nut tightening device.

[0017] Furthermore, a horizontal movable guide rail is provided between the rod discharging bin and the support frame, and the automatic nut tightening device can be adjusted to the rod installation position through the horizontal movable track and the up and down movable track of the support frame.

[0018] Furthermore, a free telescopic device is provided at the tail end of the automatic nut tightening device, which is used to insert the automatic nut tightening device into the interior of the screw.

[0019] According to a second aspect of the present invention, there is provided a method for automated installation of steel structure roofing rods, which is implemented by applying any step of the automated installation device for steel structure roofing rods described above, and comprises:

[0020] S100, pre-filling the rods and nuts into the rod discharging bin and the nut automatic discharging bin respectively, transporting the steel structure roof rod automatic installation equipment to the rod purlin to be installed, and setting fixed limit devices on both sides thereof to prevent the equipment from tilting;

[0021] S200, the mobile trolley moves horizontally on the purlin, and is positioned by cameras on both sides and a laser positioning device to determine and move to the installation hole position;

[0022] S300, the installation robot arm grabs the rod from the rod limiting discharging device, and accurately installs the rod into the hole between the purlins through intelligent trajectory calculation based on the position information provided by the camera and the laser positioning device.

[0023] S400, the nut automatic discharging bin releases nuts into the nut tightening device, and the nut tightening device is controlled to automatically tighten the nuts to the end of the rod, thereby completing the installation of the rod;

[0024] S500, repeat steps S200-S400 until all rods are installed.

[0025] Furthermore, the step S400 includes: after the rod is in place, the automatic nut tightening device is adjusted to the position of the rod by moving up and down the horizontal movable track and the support frame.

[0026] Furthermore, the step S400 includes: the automatic nut tightening device inserts the nut into the interior of the screw rod through the free telescopic device at the tail end.

[0027] Beneficial effects of the present invention:

[0028] 1. The automated installation equipment provided by the present invention can freely move horizontally on the purlins through a mobile trolley, and the cameras and laser locators on both sides of the integrated machine confirm the specific position of the rod installation. The mechanical arm accurately grabs the rod on the discharge limit device at the bottom of the discharge bin and installs it to the fixed hole position, and cooperates with the nut automatic tightening device to fix the nut to the screw rod, realizing the automatic positioning and automatic installation functions, greatly improving the efficiency of the installation of small roof rods, reducing the work intensity of construction personnel, avoiding the safety hazards caused by personnel working at high altitudes, and realizing the intelligent and automated installation of small rods, making the entire construction process more convenient and efficient. In addition, the present invention also has the characteristics of easy assembly, intelligent control, and convenient loading without manual intervention. It effectively avoids the many problems such as low efficiency and high safety risks caused by frequent up and down movement in traditional installation methods, and realizes the rapid and accurate installation of small rods, thereby shortening the construction period of the entire project.

[0029] 2. The automated installation equipment provided by the present invention can replace most of the manual work through automated means, effectively reducing the physical labor intensity of construction workers.

[0030] 3. The automated installation equipment provided by the present invention replaces most of the manual work through automated means, eliminates the risk of construction workers working at heights, and installs poles through automated equipment, thereby avoiding safety hazards caused by frequently unfastening and fastening seat belts and reducing the accident rate.

[0031] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0033] Figure 1 It is a front view schematic diagram of an automatic installation device for steel structure roof rods in an embodiment of the present invention;

[0034] Figure 2 It is a top view schematic diagram of an automatic installation device for steel structure roof rods in an embodiment of the present invention;

[0035] Figure 3 It is a side view schematic diagram of an automatic installation device for steel structure roof rods in an embodiment of the present invention;

[0036] Figure 4 This is a flow chart of an automated installation method for steel structure roof rods in an embodiment of the present invention;

[0037] In all the drawings, the same reference numerals represent the same technical features, specifically:

[0038] 1-rod discharge bin; 2-mobile trolley; 3-mechanical arm; 4-support frame; 5-nut automatic discharge bin; 6-monitoring camera; 7-nut tightening device; 8-horizontal moving guide rail; 9-discharge port; 10-rod discharge limit device. DETAILED DESCRIPTION

[0039] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0040] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0042] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as in the embodiments of this application.

[0043] The present invention provides an automatic installation device and method for steel structure roof rods. The device freely moves horizontally on the purlins through a mobile trolley. The cameras and laser locators on both sides of the integrated machine confirm the specific position of the rod installation. The mechanical arm accurately grabs the rod on the discharge limit device at the bottom of the discharge bin and installs it to the fixed hole position. The nut is fixed to the screw rod with the automatic nut tightening device, realizing the automatic positioning and automatic installation functions, greatly improving the efficiency of the installation of small roof rods, reducing the work intensity of construction personnel, avoiding the safety hazards caused by high-altitude operations, realizing the intelligent and automatic installation of small rods, and making the entire construction process more convenient and efficient. In addition, the present invention also has the characteristics of easy assembly, intelligent control, and convenient loading without manual intervention. It effectively avoids the many problems such as low efficiency and high safety risks caused by frequent up and down movement in traditional installation methods, and realizes the rapid and accurate installation of small rods, thereby shortening the construction period of the entire project.

[0044] Embodiment 1:

[0045] like Figure 1 Figure 2 Figure 3 As shown, an embodiment of the present invention provides an automated installation device for steel structure roof rods, comprising: a rod discharging bin 1 for storing rods; a discharging port 9 arranged at the bottom side of the rod discharging bin 1; a rod limiting discharging device 10 arranged below the rod discharging bin 1, and the rods stored in the rod discharging bin 1 can be discharged into the rod limiting discharging device 10 below in an orderly manner through the discharging port 9; a mobile trolley 2 arranged below the rod limiting discharging device 10, used to support the equipment to move horizontally between purlins; an installation mechanical arm 3 arranged on the mobile trolley 2, used to grab the rods on the rod limiting device 10 and install them in the holes between the purlins, and the installation mechanical arm 3 is also equipped with various types of end effectors, such as suction cups, clamps, etc., to adapt to different types of small type rod; nut installation units arranged on both sides of the mobile trolley 2, the nut installation unit comprising an automatic nut discharging bin 5 and a nut tightening device 7; and a positioning unit arranged on the nut installation unit, the positioning unit comprising a monitoring camera 6 arranged between the nut tightening device 7 and the automatic nut discharging bin 5 and a laser positioning device arranged inside the nut tightening device 7, the position of the installation hole can be determined by the monitoring camera 6 and the laser positioning device in the positioning unit, the mechanical arm 3 can automatically grab the rod on the rod limiting discharging device 10 and install it in the hole, the nuts stored in the automatic nut discharging bin 5 are automatically unloaded into the nut tightening device 7, the nut tightening device 7 is started to tighten the nuts, and the rod installation is completed.

[0046] Among them, the laser positioning device quickly calculates the relative position between the rod and the mounting hole by emitting a laser beam. The laser sensor can use high-precision laser ranging technology with an accuracy of millimeters. This device can cover different angles of the installation area by rotating and adjusting the angle to ensure comprehensive detection. The monitoring video head 6 in this embodiment uses a high-resolution camera, which can identify the alignment of the rod and the mounting hole through an image processing algorithm, and feed back the data to the control system for real-time adjustment.

[0047] Furthermore, the device also integrates a control system that uses advanced algorithms to process laser measurement data and camera images in real time, and uses the results to adjust the position of the robot arm. If the system detects a position deviation, it automatically adjusts the grasping action to ensure that the rod can be accurately installed. The system can also achieve precise control of the robot arm by integrating real-time data from sensors and image recognition. Using an industrial PC-based control platform, combined with PID control algorithms and fuzzy logic control technology, the system can achieve high-precision grasping actions and position adjustments. At the same time, by docking with the Building Information Modeling (BIM) system, the system can optimize the installation path and steps to further improve construction efficiency. Among them, the system provides a user-friendly operation interface, allowing operators to monitor the working status of the equipment in real time and intervene manually when necessary. The graphical user interface (GUI) can display sensor data, camera images and equipment status in real time, allowing operators to make decisions quickly to ensure safe and efficient construction.

[0048] Furthermore, a support frame 4 is connected between the rod discharging bin 1 and the nut tightening device 7, and a horizontal movable guide rail 8 is provided between the rod discharging bin 1 and the support frame 4. The automatic nut tightening device 7 adjusts the rod installation position through the horizontal movable track 8 and the vertical movable track of the support frame 4 according to the position information provided by the monitoring camera 6 and the laser positioning device; the tail end of the automatic nut tightening device 7 is also provided with a free telescopic device for inserting the automatic nut tightening device 7 into the screw. A physical safety barrier is also provided around the device, and an emergency stop button is installed to ensure the personal safety of the operator, and an intelligent protection system is developed to automatically pause the device when a human body is detected approaching a dangerous area.

[0049] In summary, the steel structure roof rod automatic installation equipment provided by this embodiment can freely move horizontally on the purlin through a mobile trolley, and the cameras and laser locators on both sides of the integrated machine confirm the specific position of the rod installation. The mechanical arm accurately grabs the rod on the discharge limit device at the bottom of the discharge bin and installs it to the fixed hole position, and cooperates with the nut automatic tightening device to fix the nut to the screw rod, realizing the automatic positioning and automatic installation functions, greatly improving the efficiency of the installation of small roof rods, reducing the work intensity of construction personnel, avoiding the safety hazards caused by personnel working at high altitudes, and realizing the intelligent and automatic installation of small rods, making the entire construction process more convenient and efficient. In addition, the present invention also has the characteristics of easy assembly, intelligent control, and convenient loading without manual intervention. It effectively avoids many problems such as low efficiency and high safety risks caused by frequent up and down movement in traditional installation methods, and realizes the rapid and accurate installation of small rods, thereby shortening the construction period of the entire project.

[0050] Furthermore, this embodiment also provides a multifunctional end effector integration solution, which aims to improve the flexibility and accuracy of the steel structure roof rod automatic installation equipment, mainly through the intelligent sensor system, image recognition technology, flexible actuator design and efficient control mechanism to achieve automatic recognition and grasping of different types of rods. Specifically, by equipping the mechanical arm 3 with a variety of intelligent sensors, including force sensors, distance sensors and pressure sensors, the size, weight and shape of the rods can be monitored in real time. These sensors can ensure that the intelligent sensor system can accurately obtain the characteristic information of each rod through data collection, so as to automatically select the most suitable end effector for grasping and installation. In addition, the high-resolution camera and advanced image processing algorithm integrated in the intelligent sensor system enable the equipment to quickly identify and classify different types of rods. Through the machine learning algorithm, the intelligent sensor system can not only identify the appearance characteristics of common rods, but also gradually learn to adapt to the grasping requirements of new rods. This intelligent recognition capability greatly improves the flexibility of the construction process and can meet diverse construction requirements. In the design of the end effector, this solution uses a variety of actuators, such as suction cups and gripper actuators. The suction cup actuator is suitable for rods with smooth surfaces. It adopts pneumatic or electric methods to achieve gripping and can adapt to rods of different thicknesses. The gripper actuator is specially designed for rods with irregular shapes or heavy weights. It has an adjustable clamping range to adapt to different rod diameters and weights. This design ensures that the equipment can flexibly cope with various operating conditions and improves the stability and safety of gripping.

[0051] To sum up, this embodiment significantly improves the automation level and adaptability of the steel structure roof pole installation equipment by integrating a multifunctional end effector, which not only improves the construction efficiency, but also ensures the accuracy and safety of the pole installation, and provides a new solution for the automation upgrade in the field of construction.

[0052] In some optional embodiments, the device can upload the device status information to the cloud server in real time through the Internet of Things technology, and the management personnel can use the web page or dedicated application to view the working status of the device anytime and anywhere, and perform remote management and scheduling. Various data collected during the operation of the equipment (such as the movement frequency of the mechanical arm, the working status of the camera and laser locator, the torque data of the nut tightening device, etc.) can be transmitted to the central database through the Internet of Things technology, and the data can be deeply mined using big data analysis tools to help discover the performance bottleneck of the equipment and optimize the process flow. Furthermore, the Internet of Things technology can help the equipment realize the self-diagnosis function, install sensors on the key components of the equipment, collect operating parameters, and combine artificial intelligence algorithms to predict faults, so as to realize the preventive maintenance of the equipment, reduce unplanned downtime, and extend the service life of the equipment. The Internet of Things technology can also enable information sharing between multiple devices, reasonably allocate construction resources, ensure that each device is at its maximum performance at the most appropriate time, improve the overall construction efficiency, integrate with other automation systems, and realize a higher level of automation control, such as automatically adjusting the working mode of the equipment according to actual needs, so that the equipment can adapt to the construction requirements in different environments. IoT technology can not only help monitor the status of equipment in real time, but also send alarms in time when abnormal conditions occur in equipment to prevent accidents from escalating. It is also convenient to track the root cause of the problem and improve the overall safety of the equipment. The interconnection between devices through IoT technology enables the devices to communicate with each other and work together to form an efficient construction network, further improving the quality and efficiency of construction.

[0053] Furthermore, IoT technology can also be used to monitor energy consumption, optimize equipment energy usage strategies, reduce energy consumption, and improve energy utilization.

[0054] Embodiment 2:

[0055] like Figure 4 As shown, an embodiment of the present invention provides an automated installation method for steel structure roof rods, comprising:

[0056] S100, pre-fill the rods and nuts into the rod discharging bin 1 and the nut automatic discharging bin 5 respectively, transport the steel structure roof rod automatic installation equipment to the rod purlin to be installed, and set fixed limit devices on both sides thereof to prevent the equipment from tilting;

[0057] S200, the device is moved horizontally on the purlin by a mobile trolley, and is positioned by monitoring cameras 7 and laser positioning devices on both sides of the device to determine and move to the position of the hole to be installed;

[0058] S300, the installation robot arm 3 grabs the rod from the rod limiting discharge device 10, and accurately installs the rod into the hole between the purlins through intelligent trajectory calculation according to the position information provided by the monitoring camera 7 and the laser positioning device on both sides of the equipment.

[0059] S400, after the rod is in place, the automatic nut tightening device 7 adjusts its position to align with the rod by moving the horizontal track 8 and the support frame 4 up and down according to the position information provided by the cameras and laser positioning devices on both sides of the equipment, and the automatic nut discharge bin 5 releases the nut into the nut tightening device 7. The automatic nut tightening device 7 inserts the nut into the screw through the free telescopic device at its tail end, and automatically tightens the nut to the end of the rod, completing the installation of the rod;

[0060] S500, repeat steps S200-S400 until all rods are installed.

[0061] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0062] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. An automatic installation device for steel structure roof rods, characterized in that: include: Rod discharging bin (1); A rod member position limiting discharge device (10) provided at the bottom of the rod member discharge bin (1); A movable trolley (2) provided at the bottom of the rod position limiting discharging device (10) is used to support the device to move horizontally between the purlins; A mounting mechanical arm (3) disposed on the mobile trolley (2) is used to grab the rod on the rod limiting device (10) and install it in a hole between purlins; a nut installation unit provided on both sides of the mobile trolley (2), the nut installation unit comprising an automatic nut discharging bin (5) and a nut tightening device (7); and A positioning unit is arranged on the nut installation unit, and position information is obtained through the positioning unit. The mechanical arm (3) automatically grabs the rod on the rod limit discharge device (10) and installs it into the hole position. The nuts stored in the nut automatic discharge bin (5) are automatically discharged into the nut tightening device (7). The nut tightening device (7) is started to tighten the nuts, thereby completing the installation of the rod.

2. The automatic installation equipment for steel structure roof rods according to claim 1 is characterized in that: It also comprises a discharge port (9) arranged at the bottom side of the rod member discharge bin (1), and the rod member discharge bin (1) discharges the pre-filled rod members in an orderly manner into the rod member position limiting discharge device (10) through the discharge port (9).

3. The automatic installation equipment for steel structure roof rods according to claim 1 is characterized in that: The positioning unit comprises a monitoring camera (6) arranged between the nut tightening device (7) and the nut automatic discharge bin (5).

4. The automatic installation equipment for steel structure roof rods according to claim 3 is characterized in that: The positioning unit also includes a laser positioning device arranged inside the nut tightening device (7).

5. The automatic installation equipment for steel structure roof rods according to claim 1, characterized in that: A support frame (4) is also connected between the rod discharge bin (1) and the nut tightening device (7).

6. An automatic installation device for steel structure roof rods according to any one of claims 1 to 5, characterized in that: A horizontal movable guide rail (8) is also provided between the rod discharging bin (1) and the support frame (4), and the automatic nut tightening device (7) can be adjusted to the rod installation position through the horizontal movable rail (8) and the vertical movable rail of the support frame (4).

7. An automatic installation device for steel structure roof rods according to any one of claims 1 to 5, characterized in that: The tail end of the automatic nut tightening device (7) is provided with a free telescopic device for inserting the nut on the automatic nut tightening device (7) into the interior of the screw rod.

8. A method for automatically installing steel structure roof rods, implemented by using an automatic installation device for steel structure roof rods according to any one of claims 1 to 7, characterized in that: include: S100, pre-filling the rods and nuts into the rod discharging bin (1) and the nut automatic discharging bin (5), respectively, moving the steel structure roof rod automatic installation equipment to the rod purlin to be installed, and setting fixed limit devices on both sides thereof to prevent the equipment from tilting; S200, the mobile trolley moves horizontally on the purlin, and is positioned by cameras on both sides and a laser positioning device to determine and move to the installation hole position; S300, the installation robot arm (3) grabs the rod from the rod position limiting discharging device (10), and accurately installs the rod into the hole between the purlins through intelligent trajectory calculation based on the position information provided by the camera and the laser positioning device; S400, the nut automatic discharging bin (5) releases the nuts into the nut tightening device (7), and controls the nut tightening device (7) to automatically tighten the nuts to the end of the rod, thereby completing the installation of the rod; S500, repeat steps S200-S400 until all rods are installed.

9. The method for automatically installing steel structure roof rods according to claim 8, characterized in that: The step S400 comprises: after the rod is in place, the automatic nut tightening device (7) is adjusted to the position of the rod by moving up and down the horizontal moving track and the support frame.

10. The method for automatically installing steel structure roof rods according to claim 9, characterized in that: The step S400 comprises: the automatic nut tightening device (7) inserts the nut into the interior of the screw rod through the free telescopic device at the tail end.

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