Steel structure roof bar automatic installation equipment and method

Abstract

The application discloses a kind of steel structure roof bar automatic installation equipment and method, the equipment includes bar discharge bin;Bar limiting discharge device being arranged below the bar discharge bin;Mobile trolley being arranged below the bar limiting discharge device;Installation mechanical arm being arranged on the mobile trolley;And nut automatic discharge bin and nut tightening device being arranged on the both sides of the mobile trolley, after the bar is installed to the hole position between purlin by the mechanical arm, the nut stored in the nut automatic discharge bin is automatically discharged into the nut tightening device, the hole position of automatic positioning bolt is tightened, and the installation of bar is completed.The equipment realizes automatic positioning and automatic installation function, greatly improves the efficiency of small bar installation of roof, reduces the work intensity of construction personnel, avoids the security risk brought by personnel high-altitude operation, realizes the intelligentization and automation of small bar installation.

Description

Technical Field

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

[0002] With the rapid development of the modern construction industry, steel structures, due to their advantages such as high strength, light weight, and fast construction speed, are widely used in projects such as industrial plants, high-rise buildings, and bridges. The installation of small roof rods is a critical step in the construction of steel structures, as it affects the stability and load-bearing capacity of the entire structure. Traditionally, the installation of small roof rods relies on manual labor, which is not only inefficient but also involves high risks at high altitudes, posing a threat to the safety of construction workers.

[0003] To improve construction efficiency and safety, several automation technologies are currently being applied to the installation of small steel roof members. These technologies typically include mechanized discharging systems, semi-automatic positioning and installation equipment, and auxiliary construction platforms. There are two normal methods for installing roof braces: one is to set up an operating surface below the roof purlin, set up a fixed rack or a mobile rack, install one intersection brace, move the rack once, and repeat the two processes of installing one intersection brace and moving the rack continuously until all the braces 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 one intersection brace, the construction workers move from the auxiliary platform to the purlin and push the auxiliary platform to the next intersection, and then install another intersection brace until all the intersection braces are installed. By setting a safety rope on the auxiliary platform, the safety rope is bolted to each railing upright, and the construction workers' safety belt slides on the safety rope, the safety of the construction workers is increased. Since there is a safety rope fastening point on each railing upright, the safety belt buckle needs to be untied when passing the railing upright, and the safety belt buckle is re-fastened after passing the railing upright, and so on.

[0004] However, existing technologies still have many shortcomings, 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 risks of working at height still exist, and the safety of construction workers during the installation process is difficult to fully guarantee; 3) Existing equipment is often designed for specific types of poles or structures and is not adaptable to poles 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 application is to provide a steel structure roof bar automatic installation equipment and method, which is freely moved horizontally on the purlin by a moving trolley, integrates a camera and a laser positioner on both sides of the mechanical arm to confirm the specific position of the bar installation, and the installation mechanical arm accurately grabs the bar on the discharging limiting device at the lower part of the discharging bin and installs it into the fixed hole position, and cooperates with the nut automatic tightening device to fix the nut on the screw rod, thereby realizing the functions of automatic positioning and automatic installation, greatly improving the efficiency of the roof small bar installation, reducing the working intensity of the construction personnel, avoiding the safety hazards caused by the personnel high-altitude operation, realizing the intelligentization and automation of the small bar installation, and making the whole construction process more convenient and efficient. In addition, the present application also has the characteristics of convenient assembly, intelligent control, convenient feeding without manual intervention, effectively avoids the problems of low efficiency, high safety risk and many other problems caused by frequent up and down movement in the traditional installation method, realizes the rapid and accurate installation of the small bar, and further shortens the construction period of the whole project.

[0006] According to the first aspect of the present application, a steel structure roof bar automatic installation equipment is provided, comprising: a bar discharging bin;

[0007] A bar limiting discharging device is arranged below the bar discharging bin;

[0008] A moving trolley is arranged below the bar limiting discharging device, which is used to support the equipment to move horizontally between the purlins;

[0009] An installation mechanical arm is arranged on the moving trolley, which is used to grab the bar on the bar limiting discharging device and install it into the hole position between the purlins;

[0010] A nut installation unit is arranged on both sides of the moving trolley, the nut installation unit comprising a nut automatic discharging bin and a nut automatic tightening device; and

[0011] A positioning unit is arranged on the nut installation unit, the positioning unit is used to obtain position information, the installation mechanical arm automatically grabs the bar on the bar limiting discharging device and installs it into the hole position, the nut stored in the nut automatic discharging bin is automatically discharged into the nut automatic tightening device, the nut is tightened by starting the nut automatic tightening device, and the bar installation is completed.

[0012] Further, the bar discharging bin is further provided with a discharging port, and the bar discharging bin sequentially discharges the bar pre-filled therein into the bar limiting discharging device through the discharging port.

[0013] Further, the positioning unit comprises a monitoring camera arranged between the nut automatic tightening device and the nut automatic discharging bin.

[0014]

[0014] Further, the positioning unit further comprises a laser positioning device arranged in the nut automatic tightening device.

[0015] Further, a support frame is further connected between the rod piece discharge bin and the nut automatic tightening device. Further, a horizontal movement guide rail is further arranged between the rod piece discharge bin and the support frame, and the nut automatic tightening device can be adjusted to the rod piece mounting position through the horizontal movement guide rail and the up-down movement track of the support frame.

[0016] Further, a free telescopic device is arranged at the tail end of the nut automatic tightening device, for sleeving the nut automatic tightening device into the screw rod.

[0017] According to the second aspect of the present application, a steel structure roof rod automatic installation method is provided, which is realized by using any one of the above steel structure roof rod automatic installation devices, and comprises the following steps:

[0018] S100, the rod piece and the nut are filled into the rod piece discharge bin and the nut automatic discharge bin respectively, the steel structure roof rod automatic installation device is transported to the rod piece purlin to be installed, and fixed limiting devices are arranged on both sides of the purlin to prevent the device from tilting;

[0019] S200, the mobile trolley is moved horizontally on the purlin, and the positioning is performed through the cameras and the laser positioning device, so that the installation hole position is determined and moved to;

[0020] S300, the installation mechanical arm grabs the rod piece from the rod piece limiting discharge device, and the rod piece is accurately installed into the hole position between the purlins through the position information provided by the cameras and the laser positioning device and the intelligent trajectory calculation.

[0021] S400, the nut automatic discharge bin releases the nut into the nut automatic tightening device, and the nut automatic tightening device is controlled to automatically tighten the nut to the end of the rod piece, so that the rod piece installation is completed;

[0022] S500, the steps S200-S400 are repeated until all the rod pieces are installed.

[0023] Further, the step S400 comprises that the nut automatic tightening device is adjusted to the rod piece position through the up-down movement of the horizontal movement guide rail and the support frame after the rod piece is positioned.

[0024] Further, the step S400 comprises that the nut automatic tightening device sleeves the nut into the screw rod through the free telescopic device at the tail end.

[0025] The present application has the following beneficial effects:

[0026] 1. The automatic installation equipment provided by the present application can move freely on the purline through a moving trolley, and the specific position of the rod piece installation is confirmed by the cameras and laser positioners integrated on both sides of the mechanical arm, the rod piece on the discharging limiting device at the lower part of the discharging bin is precisely grabbed and installed into the fixed hole by the installation mechanical arm, and the nut is fixed on the screw by the automatic nut tightening device, so that the automatic positioning and automatic installation functions are realized, the efficiency of the installation of small rod pieces on the roof is greatly improved, the working intensity of the construction personnel is reduced, the safety hazards caused by the high-altitude operation of the personnel are avoided, the intelligentization and automation of the installation of small rod pieces are realized, and the whole construction process is more convenient and efficient.

[0027] In addition, the present application also has the characteristics of convenient assembly, intelligent control, convenient feeding without manual intervention, effectively avoids the problems of low efficiency, high safety risk and many other problems caused by frequent up and down movement in the traditional installation method, realizes the rapid and accurate installation of small rod pieces, and further shortens the construction period of the whole project.

[0028] 2. The automatic installation equipment provided by the present application can replace most of the manual work through automatic means, effectively reducing the physical labor intensity of the construction personnel.

[0029] 3. The automatic installation equipment provided by the present application replaces most of the manual work through automatic means, eliminates the risk of high-altitude operation of the construction personnel, avoids the safety hazards caused by frequent untying and tying of the safety belt, and reduces the accident rate.

[0030] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter in the description of the application. BRIEF DESCRIPTION OF DRAWINGS

[0031] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description of embodiments, taken in conjunction with the accompanying drawings, in which:

[0032] Fig. 1 is a front view schematic diagram of a steel structure roof rod piece automatic installation equipment in an embodiment of the present application;

[0033] Fig. 2 is a top view schematic diagram of a steel structure roof rod piece automatic installation equipment in an embodiment of the present application;

[0034] Fig. 3 is a side view schematic diagram of a steel structure roof rod piece automatic installation equipment in an embodiment of the present application;

[0035] Fig. 4 is a flow chart of a steel structure roof rod piece automatic installation method in an embodiment of the present application; in all the drawings, the same reference signs represent the same technical features, specifically:

[0036] 1-rod discharging bin; 2-moving trolley; 3-installing mechanical arm; 4-support frame; 5-nut automatic discharging bin;

[0037] 6-monitoring camera; 7-nut automatic tightening device; 8-horizontal moving guide rail; 9-discharging port; 10-rod discharging limiting device. DETAILED DESCRIPTION

[0038] The application will be further described below in conjunction with the drawings and examples. It should be understood that the specific examples described herein are intended for the purpose of explanation only and are not intended to limit the present application.

[0039] The specific examples described herein are only used to explain the present application, and are not intended to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, not all the structures.

[0040] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] Those skilled in the art can understand that, unless otherwise stated, the singular form "one", "said" and "the" used herein also includes the plural form. It should be further understood that the phrase "comprising" used in the specification of the present application means that the features, integers, steps, operations, elements and / or components exist, but does not exclude the existence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

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

[0043] The present application provides a kind of steel structure roof rod automatic installation equipment and method, the equipment is freely moved on purlin by moving trolley, integrates mechanical both sides adjacent camera and laser positioner to confirm the specific position of rod installation, installing mechanical arm accurately grabs the rod on the discharging limiting device in the lower part of discharging bin and

[0044] The device is installed in a fixed hole position, and the nut is fixed to the screw rod with the help of an 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 workload of construction personnel, avoiding the potential safety hazards caused by personnel working at heights, 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 many problems such as low efficiency and high safety risks caused by frequent up and down movements in traditional installation methods, realizes the rapid and accurate installation of small rods, and thus shortens the construction period of the entire project.

[0045] Example 1:

[0046] As shown in Figures 1, 2 and 3, 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 discharge port 9 provided at the bottom of the rod discharging bin 1; a rod limiting discharge device 10 provided below the rod discharging bin 1;

[0047] The rods can be discharged in an orderly manner into the rod limiting and discharging device 10 below through the discharge port 9; the mobile trolley 2 provided below the rod limiting and discharging device 10 is used to support the equipment to move horizontally between the purlins; the installation robot arm 3 provided on the mobile trolley 2 is used to grab the rods on the rod limiting and discharging device 10 and install them into the holes between the purlins. The installation robot arm 3 is also equipped with various types of end effectors, such as suction cups, clamps, etc., to adapt to different types of small rods; nut installation units are provided on both sides of the mobile trolley 2, and the nut installation unit includes an automatic nut discharging bin 5 and an automatic nut tightening device 7; and a positioning unit provided on the nut installation unit, the positioning unit includes a monitoring camera 6 provided between the automatic nut tightening device 7 and the automatic nut discharging bin 5 and a laser positioning device provided inside the automatic nut tightening device 7, through the monitoring camera 6 in the positioning unit The laser positioning device can determine the position of the installation hole, and the installation robot arm 3 can automatically grab the rod on the rod limiting and discharging device 10 and install it into the hole. The nuts stored in the nut automatic discharging bin 5 are automatically unloaded into the nut automatic tightening device 7, and the nut automatic tightening device 7 is started to tighten the nuts to complete the rod installation.

[0048] The laser positioning device calculates the relative position between the rod and the mounting hole by emitting a laser beam. The laser sensor uses high-precision laser ranging technology, with an accuracy of millimeters. The device can cover different angles of the installation area by rotating and adjusting the angle, ensuring comprehensive detection. The monitoring camera 6 in this embodiment uses a high-resolution camera that can identify the alignment of the rod and the mounting hole through image processing algorithms and feed data back to the control system for real-time adjustment.

[0049] Further, 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 installation robot. If the system detects a position deviation, it automatically adjusts the grabbing action to ensure accurate installation of the rod. The system can also integrate real-time data from sensors and image recognition to achieve precise control of the installation robot. Using an industrial PC-based control platform, combined with PID control algorithms and fuzzy logic control technology, the system can achieve high-precision grabbing and position adjustment. At the same time, by connecting with the Building Information Modeling (BIM) system, the system can optimize the installation path and steps, further improving construction efficiency. The system provides a friendly user interface, allowing operators to monitor the device's working status in real time and manually intervene when necessary. The graphical user interface (GUI) can display sensor data, camera images, and device status in real time, allowing operators to make quick decisions to ensure safe and efficient construction.

[0050] Further, the rod discharge bin 1 is connected to the nut automatic tightening device 7, and the rod discharge bin 1 is provided with a horizontal moving guide rail 8 between the support frame 4. The nut automatic tightening device 7 moves up and down along the horizontal moving guide rail 8 and the support frame 4 to adjust the position of the rod according to the position information provided by the monitoring camera 6 and the laser positioning device. The tail end of the nut automatic tightening device 7 is also provided with a free extension device for fitting the nut automatic tightening device 7 into the screw rod. The device is also provided with a physical safety barrier and an emergency stop button to protect the safety of the operators and develop an intelligent protection system that automatically pauses the device when detecting the approach of a human body to a dangerous area.

[0051] In summary, the steel structure roof bar automatic installation equipment provided by the embodiment can freely move horizontally on the purlin through the moving trolley, the specific position of the bar installation is confirmed by the cameras and laser positioners integrated on both sides of the mechanical arm, the bar on the discharging limiting device at the lower part of the discharging bin is accurately grabbed and installed into the fixed hole by the installation mechanical arm, and the nut is fixed on the screw by the nut automatic tightening device, so that the automatic positioning and automatic installation functions are realized, the efficiency of the installation of small bars of the roof is greatly improved, the working strength of the construction personnel is reduced, the safety hidden danger caused by the personnel high-altitude operation is avoided, the intelligentization and automation of the installation of small bars are realized, and the whole construction process is more convenient and efficient. In addition, the application also has the characteristics of convenient assembly, intelligent control, convenient feeding and no manual intervention, effectively avoids many problems such as low efficiency and high safety risk caused by frequent up and down movement in the traditional installation method, realizes the rapid and accurate installation of small bars, and further shortens the construction period of the whole project.

[0052] Further, the embodiment also provides a multifunctional end effector integration scheme, which aims to improve the flexibility and accuracy of the steel structure roof bar automatic installation equipment. The automatic identification and grabbing of different types of bars are mainly realized through an intelligent sensor system, image recognition technology, flexible effector design and efficient control mechanism. Specifically, by equipping the installation mechanical arm 3 with various intelligent sensors, including force sensors, distance sensors and pressure sensors, the size, weight and shape of the bar can be monitored in real time. Through data acquisition, the intelligent sensor system can accurately obtain the characteristic information of each bar, so as to automatically select the most suitable end effector for grabbing and installation. In addition, the high-resolution camera integrated in the intelligent sensor system and the advanced image processing algorithm enable the equipment to quickly identify and classify different types of bars. Through machine learning algorithms, the intelligent sensor system not only identifies the appearance characteristics of common bars, but also gradually learns to adapt to the grabbing needs of new types of bars. This intelligent identification capability greatly improves the flexibility of the construction process, and can meet various construction requirements. In the design of the end effector, the scheme adopts various types of effectors, such as suction cup and gripper effectors.

[0053] The suction cup effector is suitable for bars with smooth surfaces and adopts pneumatic or electric mode to realize grabbing, which can adapt to bars of different thicknesses; the gripper effector is designed for bars with irregular shapes or heavy weight, and has an adjustable clamping amplitude to adapt to different bar diameters and weights. This design ensures that the equipment can flexibly cope with various working conditions, improves the stability and safety of grabbing.

[0054] In summary, the embodiment significantly improves the automation level and adaptability of the steel structure roof bar installation equipment by integrating a multifunctional end effector, not only improving construction efficiency, but also ensuring the accuracy and safety of bar installation, providing a new solution for the automation upgrade of the construction field.

[0055] In some optional embodiments, the device can upload device status information to a cloud server in real time through Internet of Things technology, and the management personnel can use a web page or a special application to check the working status of the device at any time and anywhere, and perform remote management and scheduling. Various data collected during the operation of the device (such as the motion frequency of the mechanical arm, the working status of the camera and the laser positioner, the torque data of the nut automatic tightening device, etc.) can be transmitted to a central database through Internet of Things technology, and the data can be deeply mined using big data analysis tools to help find device performance bottlenecks and optimize process flow. Further, through Internet of Things technology, the device can realize self-diagnosis function, collect operating parameters by installing sensors on key components of the device, and perform fault prediction combined with artificial intelligence algorithms to realize preventive maintenance of the device, reduce unplanned downtime, and prolong the service life of the device. Internet of Things technology can also enable information sharing between multiple devices, allocate construction resources reasonably, ensure that each device can perform at its best, improve overall construction efficiency, and integrate with other automation systems to achieve higher levels of automation control, such as automatically adjusting the working mode of the device according to actual needs to make the device adapt to construction requirements in different environments. Internet of Things technology not only helps to monitor the status of the device in real time, but also sends an alarm in time when the device has an abnormal condition to prevent the accident from expanding, and facilitates the tracking of the root cause of the problem, thereby improving the overall safety of the device. Through the interconnection between devices realized by Internet of Things technology, the devices can communicate with each other and work cooperatively to form an efficient construction network, further improving construction quality and efficiency.

[0056] Further, Internet of Things technology can also be used for energy consumption monitoring to optimize device energy use strategy, reduce energy consumption, and improve energy utilization. Embodiment 2:

[0057] As shown in FIG. 4, the embodiment of the present application provides a steel structure roof bar automatic installation method, which comprises:

[0058] S100, the bars and nuts are filled into the bar discharge bin 1 and the nut automatic discharge bin 5 respectively, the steel structure roof bar automatic installation equipment is transported to the bar purlin to be installed, and fixed limiting devices are arranged on both sides of the equipment to prevent the equipment from tilting;

[0059] S200, the device moves horizontally on the purlin through the moving trolley, and is positioned through the monitoring camera 7 and the laser positioning device on both sides of the device, to determine and move to the position of the hole to be installed;

[0060] S300, the installation mechanical arm 3 grabs the rod from the rod limiting and discharging device 10, and according to the position information provided by the monitoring camera 7 and the laser positioning device on both sides of the device, the rod is accurately installed into the hole between the purlins through intelligent trajectory calculation.

[0061] S400, after the rod is in place, according to the position information provided by the camera and the laser positioning device on both sides of the device, the nut automatic tightening device 7 adjusts the position to align the rod through the horizontal moving guide rail 8 and the upward and downward movement of the support frame 4, the nut automatic discharging bin 5 releases the nut into the nut automatic tightening device 7, the nut automatic tightening device 7 through the free telescopic device at the tail end of the nut automatic tightening device 7, the nut is sleeved into the screw rod, and the nut is automatically tightened to the end of the rod, and the rod installation is completed;

[0062] S500, repeat steps S200-S400 until all rods are installed.

[0063] It should be understood that although each step in the flowchart of the accompanying drawings is displayed in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise stated herein, the execution of these steps is not strictly limited in sequence, and they can be executed in other orders. Moreover, at least part of the steps in the flowchart of the accompanying drawings can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0064] The above only describes some embodiments of the present application. It should be pointed out that for ordinary skilled persons in the technical field, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered as the protection scope of the present application.

Claims

1. An apparatus for automated installation of steel structural roof members, characterized by, The application relates to a steel structure roof bar automatic installation equipment. The application comprises the following parts: a bar discharging bin (1); a bar limiting and discharging device (10) arranged at the bottom of the bar discharging bin (1); a moving trolley (2) arranged at the bottom of the bar limiting and discharging device (10) and used for supporting the equipment to horizontally move between purlins; a mounting mechanical arm (3) arranged on the moving trolley (2) and used for grabbing a bar on the bar limiting and discharging device (10) and mounting the bar into a hole position between purlins; a nut mounting unit arranged on both sides of the moving trolley (2), wherein the nut mounting unit comprises a nut automatic discharging bin (5) and a nut automatic tightening device (7); and a positioning unit arranged on the nut mounting unit, position information is obtained through the positioning unit, the mounting mechanical arm (3) automatically grabs the bar on the bar limiting and discharging device (10) and mounts the bar into the hole position, nuts stored in the nut automatic discharging bin (5) are automatically discharged into the nut automatic tightening device (7), the nut automatic tightening device (7) is started to tighten the nuts, and the bar mounting is completed; 2. The apparatus for automated installation of steel roof deck members according to claim 1, wherein, horizontal moving guide rails (8) are further arranged between the bar discharging bin (1) and a supporting frame (4), and the nut automatic tightening device (7) can be adjusted to a bar mounting position through the horizontal moving guide rails (8) and up-and-down moving track adjustment of the supporting frame (4).

3. The apparatus for automated installation of steel roof deck members according to claim 1, wherein, The application further comprises a discharging port (9) arranged at the bottom side of the bar discharging bin (1), and the bar discharging bin (1) sequentially discharges pre-filled bars into the bar limiting and discharging device (10) through the discharging port (9).

4. The apparatus for automated installation of steel roof deck members according to claim 3, wherein, The positioning unit comprises a monitoring camera (6) arranged between the nut automatic tightening device (7) and the nut automatic discharging bin (5).

5. The apparatus for automated installation of steel roof deck members according to claim 1, wherein, The positioning unit further comprises a laser positioning device arranged in the nut automatic tightening device (7).

6. An automated installation apparatus for steel structural roof members according to any one of claims 1-5, characterized in that, The bar discharging bin (1) and the nut automatic tightening device (7) are further connected with the supporting frame (4).

7. A method for automatic installation of steel structural roof bar, which is implemented by using the automatic installation equipment of steel structural roof bar according to any one of claims 1-6, characterized in that, A free telescopic device is arranged at the tail end of the nut automatic tightening device (7) and used for sleeving nuts on the nut automatic tightening device (7) into a screw rod. The application further comprises the following steps: S100, prefilling bars and nuts into the bar discharging bin (1) and the nut automatic discharging bin (5) respectively, transporting the steel structure roof bar automatic installation equipment to the purlin to be installed, and arranging fixed limiting devices on both sides of the equipment to prevent the equipment from tilting; S200, horizontally moving the moving trolley between purlins and positioning through a camera and a laser positioning device on both sides to determine and move to a mounting hole position; S300, the mounting mechanical arm (3) grabs a bar from the bar limiting and discharging device (10), the bar is accurately mounted into a hole position between purlins through position information provided by the camera and the laser positioning device and intelligentized track calculation; S400, the nut automatic discharging bin (5) releases nuts into the nut automatic tightening device (7), the nut automatic tightening device (7) is controlled to automatically tighten the nuts to the end of the bar, and the bar mounting is completed; S500, repeating steps S200-S400 until all the bars are mounted.

8. A method of automated installation of a steel roof deck member as defined in claim 7, wherein, The step S400 includes that the nut automatic tightening device (7) is adjusted to the position of the rod after the rod is in place through the up and down movement of the horizontal movement guide rail and the support frame.

9. A method of automated installation of a steel roof deck member according to claim 8, wherein, The step S400 includes that the nut automatic tightening device (7) puts the nut into the inside of the screw rod through the free extension device at the tail end.

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