A step mounting robot for an assembled prefabricated stair

Abstract

The utility model belongs to building machinery technical field discloses a kind of step installation robot of assembly type prefabricated stair, including multi-legged walking mechanism, multi-axis mechanical arm and step installation mechanism;The multi-legged walking mechanism includes central pedestal and at least three groups of walking foot installed on the central pedestal, two symmetrical walking feet constitute a group, and two the walking foot in the same group is configured to synchronous travel, and each walking foot includes walking wheel capable of lifting relative to the central pedestal;The multi-axis mechanical arm is installed on the central pedestal;The step installation mechanism includes fixed seat connected at the end of the multi-axis mechanical arm and clamp module and nut installation module installed on fixed seat.Summarized above, multi-legged walking mechanism can freely travel on different height stair steps, and cooperate with multi-axis mechanical arm and step installation mechanism to automatically assemble concrete tread to prefabricated beam provided with assembly step, improve installation efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of construction machinery technology, specifically relating to a robot for installing the steps of a prefabricated staircase. Background Technology

[0002] Staircases, as the main vertical transportation and emergency evacuation route in a building, have a significant impact on the normal use and emergency evacuation of the entire building. Most existing buildings use traditional cast-in-place reinforced concrete staircases, which have significant advantages in terms of strength, sound insulation, and maintenance-free operation. However, the installation process requires complex procedures such as formwork, rebar tying, on-site pouring, and curing, resulting in disadvantages such as long construction periods, numerous hidden works, and poor quality control.

[0003] Furthermore, with the maturity and improvement of prefabricated building technology, precast concrete stairs have also been widely used. However, the anchoring of existing precast concrete stairs usually involves pre-embedded bolts followed by cast-in-place concrete connection, and precast concrete stairs require hoisting and installation. This makes the installation of precast concrete stairs difficult in terms of positioning and requires highly skilled hoisting and installation workers. Summary of the Invention

[0004] In view of this, in order to solve the problems mentioned in the background art, the purpose of this utility model is to provide a robot for installing the steps of a prefabricated staircase.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A robot for installing the treads of a prefabricated staircase includes: A multi-legged walking mechanism includes a central base and at least three sets of walking legs mounted on the central base, wherein two symmetrical walking legs constitute a set, and two walking legs in the same set are configured to move synchronously, and each walking leg includes a walking wheel that can be raised and lowered relative to the central base; A multi-axis robotic arm is mounted on the central base. Stepping installation mechanism; including a first fixed base connected to the end of the multi-axis robotic arm and a clamping module and a nut installation module mounted on the first fixed base.

[0006] Preferably, the walking foot further includes a connecting member connecting the central base and the walking wheel, the connecting member being configured to allow the walking wheel to rise and fall relative to the central base in a swinging and rotating manner.

[0007] Preferably, the connecting member includes two second fixed seats and a connecting rod rotatably connected between the two second fixed seats, the central base is fixedly connected to one of the second fixed seats, and the walking wheel is driven to rotate by a motor fixed in the other second fixed seat.

[0008] Preferably, two sets of connecting rods are arranged side by side, and the connecting member is constructed as a parallelogram structure so that the walking wheel is supported on the stair tread with its central axis parallel to the surface of the stair tread.

[0009] Preferably, the walking foot further includes an electrically operated telescopic rod rotatably connected between the central base and the connecting member.

[0010] Preferably, the multi-axis robotic arm includes a front rotary joint, an end rotary joint, and at least one intermediate rotary joint located between the front rotary joint and the end rotary joint, wherein the rotation center axes of the front rotary joint, the end rotary joint, and the intermediate rotary joint are perpendicular to each other.

[0011] Preferably, the multi-axis robotic arm further includes a telescopic arm connected between any two adjacent intermediate rotational joints.

[0012] Preferably, two sets of nut mounting modules are symmetrically arranged. Each set of nut mounting modules includes a nut fastener that can reciprocate. The nut fastener includes a locking motor, a lifting drive and a locking sleeve connected in sequence, and the locking sleeve is provided with a locking hole that matches the nut.

[0013] Preferably, at least one set of clamping modules is provided and distributed between the two sets of nut mounting modules. Each set of clamping modules includes two grippers that can move in opposite directions or in the same direction. The direction of movement of the grippers is parallel to the direction of movement of the nut fastener.

[0014] Preferably, both the clamp module and the nut mounting module include an electric guide rail and an electric slide block, wherein the electric slide block is configured to reciprocate linearly along the electric guide rail.

[0015] Compared with the prior art, this utility model has the following advantages: (1) In this utility model, a multi-legged walking mechanism that can move freely on stair treads of different heights is provided, and a multi-axis robotic arm and a step installation mechanism are used to automatically assemble concrete treads onto a precast beam with assembly steps, thereby realizing fully automatic installation of stair treads.

[0016] (2) In this utility model, the multi-legged walking mechanism is based on the swing of the connecting components, so that the walking wheels can rise and fall relative to the stair steps, thereby facilitating the support of multiple walking legs on stair steps at different heights, and thus stably performing the overall robot's up and down stairs.

[0017] (3) In this utility model, the connecting component is a parallelogram structure so that the walking wheel is supported on the stair tread with its central axis parallel to the surface of the stair tread, further ensuring the stability of the overall robot support during the walking process.

[0018] (4) In this utility model, both the nut fastener and the gripper can reciprocate along the parallel electric rails, so that they can be flexibly applied to the clamping and fastening of stair treads of different widths. Attached Figure Description

[0019] Figure 1 This is a perspective view of the present utility model; Figure 2 This is a schematic diagram of the multi-legged walking mechanism in this utility model; Figure 3 This is a schematic diagram of the walking foot structure in this utility model; Figure 4 This is a schematic diagram of the structure of the multi-axis robotic arm in this utility model; Figure 5 This is a schematic diagram of the step mounting mechanism in this utility model; Figure 6 This is a schematic diagram of the fixture module in this utility model; Figure 7 This is a schematic diagram of the nut mounting module in this utility model; Figure 8 This is a schematic diagram of the nut fastener in this utility model; Figure 9 This is a diagram showing the usage state of this utility model; In the diagram: Multi-legged walking mechanism - 100; Central base - 101; Walking legs - 102; Walking wheels - 103; Connecting component - 104; Second fixed seat - 105; Linkage rod - 106; Electric telescopic rod - 107; Multi-axis robotic arm - 200; Head rotation joint - 201; End rotation joint - 202; Middle rotation joint - 203; Telescopic arm - 204; Step mounting mechanism - 300; First fixed seat - 310; Clamp module - 320; Gripper - 321; Nut mounting module - 330; Nut fastener - 331; Locking motor - 332; Lifting drive component - 333; Locking sleeve - 334; Electric guide rail - 340; Electric slide - 350. Detailed Implementation

[0020] To further understand the content of this utility model, a detailed description of it is provided in conjunction with the accompanying drawings and embodiments. The structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art; they are not intended to limit the implementation of this utility model and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this utility model, should still fall within the scope of the technical content disclosed in this utility model. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of implementation. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of implementation of this utility model. It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to the embodiments of this application described herein.

[0021] like Figure 1 As shown, the prefabricated staircase step installation robot provided by this utility model includes a multi-legged walking mechanism 100, a multi-axis robotic arm 200, and a step installation mechanism 300. Specifically, the multi-legged walking mechanism 100 provides walking power for the overall robot, ensuring that the overall robot can move on stair steps of different heights. The multi-axis robotic arm 200 is supported and installed on the multi-legged walking mechanism 100, and the step installation mechanism 300 is connected to the end of the multi-axis robotic arm 200, so that the step installation mechanism 300 can flexibly adjust to different operating positions under the drive of the multi-axis robotic arm 200.

[0022] For example, the stepping installation robot provided by this utility model can achieve the following: Figure 9The diagram illustrates the automatic installation of steps in a prefabricated staircase. The prefabricated staircase includes two symmetrically arranged side beams, made of steel or concrete, with multiple equidistantly distributed step platforms formed on them. Each step platform has a pre-embedded connecting bolt. The stair treads are made of concrete, with two sets of symmetrically arranged mounting holes adapted to the connecting bolts. The step installation robot provided by this invention is specifically used to automatically align multiple stair treads with the step platforms, and to tighten nuts on the connecting bolts after the stair treads are aligned and assembled onto the step platforms, thus fixing the stair treads on the step platforms. It is worth noting that in actual automatic installation of the concrete treads, a bottom-up installation method should be adopted, so that the already installed concrete treads on the lower side can serve as the walking support for the multi-legged walking mechanism 100; the working position of the step installation mechanism 300 is adjusted by the multi-axis robotic arm 200; and the step installation mechanism 300 achieves automatic material handling and alignment of the stair treads, as well as automatic tightening of the nuts.

[0023] In one specific embodiment, reference continues to be made to... Figure 2 As shown, the multi-legged walking mechanism 100 includes a central base 101 and at least three sets of walking legs 102 mounted on the central base 101. Two symmetrical walking legs 102 form a group, and two walking legs 102 in the same group are configured to move synchronously. Each walking leg 102 includes a walking wheel 103 that can be raised and lowered relative to the central base 101. Specific detail 2 shows the structure of three sets (six) of walking legs 102, i.e. Figure 2 The multi-legged walking mechanism 100 is manifested as a hexa-legged walking mechanism. In this structure, the middle set of walking legs 102 is directly opposite the center of the central base 101, thereby ensuring that the three sets (six) of walking legs 102 provide stable support to the central base 101.

[0024] In this embodiment, we continue to refer to Figure 3As shown, the traveling wheel 103 is connected to the central base 101 via a connecting member 104, an electric telescopic rod 107, and a connecting rod 106 rotatably connected between the two second fixed seats 105. The central base 101 is fixedly connected to one of the second fixed seats 105. The traveling wheel 103 is driven to rotate by a motor fixed in the other second fixed seat 105. The two ends of the electric telescopic rod 107 are rotatably connected to the central base 101 and the connecting rod 106, respectively. Specifically, one end of the electric telescopic rod 107 is connected to the center of the connecting rod 106, and the other end is connected above the second fixed seat 105, so that the electric telescopic rod 107, the connecting rod 106, and the central base 101 form a triangular structure. The three connection points of the triangle are all rotatably connected. Thus, the extension and retraction of the electric telescopic rod 107 can drive the connecting rod 106 to swing, thereby causing the traveling wheel 103 to rise and fall relative to the central base 101.

[0025] For example, when walking on stair treads of different heights using the multi-legged walking mechanism 100 provided by this utility model: (combined with...) Figure 2 and Figure 9 Taking the upper staircase as an example, in the initial state, the electric telescopic rod 107 is extended to its longest position, thereby driving the connecting member 104 to swing downwards so that the traveling wheel 103 is in its lowest position, that is, the height difference between the traveling wheel 103 and the central base 101 is the greatest. In this state, the multi-legged walking mechanism 100 moves to the right under the drive of the six sets of traveling wheels 103 until the rightmost set of traveling legs 102 touches the stair tread a and is blocked. At this time, the electric telescopic rod 107 (rightmost) is driven to shorten, thereby driving the rightmost set of connecting members 104 to move downwards. Figure 2In the indicated state, the walking wheels 103 are raised relative to the central base 101, thus reducing the height difference between the walking wheels 103 and the central base 101, and making the height of the rightmost walking wheel 103 match the height of the stair tread a that is blocking it. The multi-legged walking mechanism 100 continues to move to the right, allowing the rightmost raised walking wheel 103 to move and be supported on the surface of the stair tread a. It continues to move to the right until the middle set of walking legs 102 comes into contact with the stair tread a and is blocked. At this point, the same operation is performed to raise the middle set of walking wheels 103. Then, it continues to move to the right, allowing the middle set of walking wheels 103 to also move and be supported on the surface of the stair tread a. Finally, the same drive is performed to raise the leftmost set of walking wheels 103 and move them onto the stair tread a. After the multi-legged walking mechanism 100 completes its climbing operation on the stair tread a, the height difference between the walking wheels 103 and the central base 101 decreases. To ensure the multi-legged walking mechanism 100 can continue climbing, after all three sets of walking wheels 103 have moved onto the stair tread a, the joint extension of the three sets of electric telescopic rods 107 drives a change in the engagement angle between the connecting member 104 and the central base 101. That is, the connecting member 104 swings down relative to the central base 101, driving the central base 101 to rise, increasing the height difference between the central base 101 and the walking wheels 103, and restoring the entire multi-legged walking mechanism 100 to its original position. Figure 1 The initial state is shown. Then, by repeating the above operation, the multi-legged walking mechanism 100 can automatically ascend stairs on stair treads of different heights.

[0026] For example, when walking on stair treads of different heights using the multi-legged walking mechanism 100 provided by this utility model: (combined with...) Figure 2 and Figure 9 As shown, taking the downstairs staircase as an example, in the initial state, the electric telescopic rod 107 is shortened to its shortest state (see reference). Figure 2 The rightmost set of walking legs 102 drives the connecting member 104 to swing upwards, so that the walking wheels 103 are in the highest position, i.e., the height difference between the walking wheels 103 and the central base 101 is minimized. In this state, the multi-legged walking mechanism 100 moves to the left under the drive of the six sets of walking wheels 103 until the leftmost set of walking legs 102 disengages from the stair tread a. At this point, the corresponding electric telescopic rod 107 (leftmost) is driven to extend, thereby driving the leftmost set of connecting members 104 to move upwards. Figure 2In the state shown, the walking wheels 103 descend relative to the central base 101, thereby increasing the height difference between the walking wheels 103 and the central base 101, and causing the leftmost walking wheel 103 to descend and abut against the stair tread b. The multi-legged walking mechanism 100 continues to move to the left until the middle set of walking legs 102 disengages from the stair tread a. At this time, the same operation described above causes the middle set of walking wheels 103 to descend. Then, it continues to move to the left until the rightmost set of walking wheels 103 also descends onto the stair tread b. After the multi-legged walking mechanism 100 completes its descent on stair tread ab, the height difference between the walking wheels 103 and the central base 101 increases. To ensure the multi-legged walking mechanism 100 can continue to descend, after all three sets of walking wheels 103 have moved onto stair tread b, the three sets of electric telescopic rods 107 shorten together, causing the engagement angle between the connecting member 104 and the central base 101 to change. That is, the connecting member 104 swings upward relative to the central base 101, causing the central base 101 to descend and reducing the height difference between the central base 101 and the walking wheels 103. Repeating this operation allows the multi-legged walking mechanism 100 to automatically descend stair treads at different heights.

[0027] Based on the above-mentioned walking principle of automatically going upstairs and downstairs, when the robot of this utility model is installed with the stair tread at point c, at least two of the three sets of walking legs 102 of the multi-legged walking mechanism 100 should be supported on the stair tread b, so as to ensure the stability of the overall robot support and positioning.

[0028] It is worth noting that the connecting rods 106 are arranged in two sets side by side, and the connecting member 104 is constructed as a parallelogram structure so that the traveling wheel 103 is supported on the stair tread with its central axis parallel to the surface of the stair tread. Specifically, this ensures that the traveling wheel 103 and the stair tread always have the maximum contact area, thereby ensuring the stability of the multi-legged walking mechanism 100 when walking on the stair tread.

[0029] Furthermore, it should be noted that to ensure the stability of the central base 101's lifting and lowering after all three sets of walking wheels 103 have moved onto a stair tread, a lifting cylinder or lifting hydraulic cylinder (not shown in the figure) can be connected to the bottom of the central base 101. This, in conjunction with the extension or retraction of the electric telescopic rod 107, achieves stable lifting and lowering of the central base 101. During the automatic upstairs or downstairs operation described above, this lifting structure remains in a retracted state to avoid interference between the lifting structure and the stair tread.

[0030] In one specific embodiment, reference continues to be made to... Figure 4As shown, the multi-axis robotic arm 200 includes a front rotating joint 201, an end rotating joint 202, and at least one intermediate rotating joint 203 located between the front rotating joint 201 and the end rotating joint 202. The rotation center axes of the front rotating joint 201, the end rotating joint 202, and the intermediate rotating joint 203 are perpendicular to each other. A telescopic arm 204 is also connected between the intermediate rotating joint 203i and the intermediate rotating joint 203ii, thereby providing effective drive for the flexible movement of the step installation mechanism 300 and ensuring that the step installation mechanism 300 can accurately position the stair steps onto the step platform of the stair side beam. At the same time, it also ensures the precise alignment of the connecting bolts on the step platform with the mounting holes on the stair steps.

[0031] In one specific embodiment, reference continues to be made to... Figure 1 and Figure 5 As shown, the stair tread installation mechanism 300 includes a first fixed base 310 connected to the end of the multi-axis robotic arm 200, and a clamp module 320 and a nut installation module 330 mounted on the first fixed base 310. The clamp module 320 is used to clamp the stair treads and, driven by the multi-legged walking mechanism 100 and the multi-axis robotic arm 200, aligns the stair treads with the step platforms of the stair side beams. The nut installation module 330 is used to tighten nuts to pre-embedded connecting bolts within the step platforms. Specifically, two sets of nut installation modules 330 are symmetrically arranged to simultaneously fix both sides of the stair treads, improving installation efficiency. At least one set of clamp modules 320 is provided and distributed between the two sets of nut installation modules 330. Figure 5 The example shown is equipped with two sets of clamping modules 320 symmetrically to ensure stability and balance when picking up and positioning the stair treads.

[0032] In this embodiment, we continue to refer to Figure 6 As shown, each clamp module 320 includes an electric guide rail 340 and two electric slides 350. The two electric slides 350 are configured to move linearly in opposite directions along the electric guide rail 340. Each of the two electric slides 350 has a clamping jaw 321 fixed to its bottom, allowing them to move in opposite directions and symmetrically clamp the two jaws 321 onto both sides of the stair tread. Depending on the actual installation requirements of the stair tread, the two jaws 321 clamp the two sides of the stair tread along its width, ensuring that the end face of the stair tread in the length direction accurately overlaps the tread platform of the stair side beam.

[0033] As an alternative embodiment (not shown in the figure), the clamp module 220 may also include a fixed guide rail and a plurality of negative suction cups fixed at equal intervals on the fixed guide rail, so that the clamp module 220 can use a negative suction method to pick up and position the stair treads.

[0034] As an alternative embodiment (not shown in the figure), the clamp module 220 may also include the negative suction structure and the gripper picking structure disclosed above, so as to ensure that only one stair tread is picked up each time, while ensuring the stability of stair tread picking and positioning.

[0035] In this embodiment, we continue to refer to Figure 7 and Figure 8 As shown, each set of nut mounting modules 330 includes an electric guide rail 340 and multiple electric slides 350. The electric slides 350 are configured to reciprocate linearly along the electric guide rail 340, and each electric slide 350 has a nut fastener 331 fixed to its bottom. (Combined) Figure 9 As shown, each step platform has three pre-embedded connecting bolts, and correspondingly, the nut mounting module 330 should be equipped with three electric sliding blocks 350. Figure 7 and Figure 8 (Only one is shown in the image), and the movement adjustment of the three electric slides 350 allows the three nut fasteners 331 to be aligned with the three connecting bolts respectively, thereby improving the fastening efficiency.

[0036] It is worth noting that the nut fastener 331 includes a locking motor 332, a lifting drive 333, and a locking sleeve 334 connected in sequence. The locking motor 332 is directly fixed to the bottom of the electric slide block 350, the lifting drive 333 is connected between the locking motor 332 and the locking sleeve 334, and the locking sleeve 334 has a locking hole adapted to the nut. Thus, while the clamp module 320 picks up the stair tread, the locking hole in the locking sleeve 334 is used to engage the nut. After the stair tread is aligned on the step platform, the lifting drive 333 drives the locking sleeve 334 to descend to the position of the connecting bolt so that the nut can be partially fitted onto the connecting bolt. Then, the locking motor 332 drives the lifting drive 333 and the locking sleeve 334 to rotate, so that the nut is screwed onto the connecting bolt, thus completing the fastening and fixing of the stair tread on the step platform.

[0037] For example, the electric guide rail 340 and the electric slide 350 can be selected as a linear motor structure or a motor screw thread seat or other mating structure, the purpose of which is to keep the nut fastener 331 and the jaw 221 parallel and independent linear movement.

[0038] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0039] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robot for installing the treads of a prefabricated staircase, characterized in that, include: A multi-legged walking mechanism (100) includes a central base (101) and at least three sets of walking legs (102) mounted on the central base (101). Two symmetrical walking legs (102) form a set, and two walking legs (102) in the same set are configured to move synchronously. Each walking leg (102) includes a walking wheel (103) that can be raised and lowered relative to the central base (101). A multi-axis robotic arm (200) is mounted on the central base (101); Step installation mechanism (300); includes a first fixed seat (310) connected to the end of the multi-axis robotic arm (200) and a clamp module (320) and a nut installation module (330) mounted on the first fixed seat (310).

2. The robot for installing the treads of a prefabricated staircase according to claim 1, characterized in that: The walking foot (102) also includes a connecting member (104) connecting the central base (101) and the walking wheel (103), the connecting member (104) being configured to allow the walking wheel (103) to rise and fall relative to the central base (101) in a swinging and rotating manner.

3. The robot for installing the treads of a prefabricated staircase according to claim 2, characterized in that: The connecting member (104) includes two second fixed seats (105) and a connecting rod (106) rotatably connected between the two second fixed seats (105). The central base (101) is fixedly connected to one of the second fixed seats (105), and the walking wheel (103) is driven to rotate by a motor fixed in the other second fixed seat (105).

4. The robot for installing the treads of a prefabricated staircase according to claim 3, characterized in that: Two sets of connecting rods (106) are arranged side by side, and the connecting member (104) is constructed as a parallelogram structure so that the walking wheel (103) is supported on the stair tread with its central axis parallel to the surface of the stair tread.

5. A robot for installing the treads of a prefabricated staircase according to any one of claims 2-4, characterized in that: The walking foot (102) also includes an electrically operated telescopic rod (107) rotatably connected between the central base (101) and the connecting member (104).

6. The robot for installing the treads of a prefabricated staircase according to claim 1, characterized in that: The multi-axis robotic arm (200) includes a front end rotation joint (201), an end end rotation joint (202), and at least one intermediate rotation joint (203) located between the front end rotation joint (201) and the end end rotation joint (202), wherein the rotation center axes of the front end rotation joint (201), the end end rotation joint (202), and the intermediate rotation joint (203) are perpendicular to each other.

7. The robot for installing the treads of a prefabricated staircase according to claim 6, characterized in that: The multi-axis robotic arm (200) also includes a telescopic arm (204) connected between any two adjacent intermediate rotation joints (203).

8. The robot for installing the treads of a prefabricated staircase according to claim 1, characterized in that: Two sets of nut mounting modules (330) are symmetrically arranged. Each set of nut mounting modules (330) includes a nut fastener (331) that can reciprocate. The nut fastener (331) includes a locking motor (332), a lifting drive (333), and a locking sleeve (334) connected in sequence. The locking sleeve (334) is provided with a locking hole that is compatible with the nut.

9. The robot for installing the treads of a prefabricated staircase according to claim 8, characterized in that: At least one clamp module (320) is provided and distributed between two sets of nut mounting modules (330). Each clamp module (320) includes two jaws (321) that can move toward or in opposite directions. The moving direction of the jaws (321) is parallel to the moving direction of the nut fastener (331).

10. The robot for installing the treads of a prefabricated staircase according to claim 9, characterized in that: Both the clamp module (320) and the nut mounting module (330) include an electric rail (340) and an electric slide (350), the electric slide (350) being configured to reciprocate linearly along the electric rail (340).

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