CN220638297U - Antiskid tyre nailing machine - Google Patents

Abstract

The utility model discloses an anti-skid tyre nailing machine, which belongs to tyre processing equipment and comprises a left sliding rail component, a right sliding rail component, a nailing sliding rail component and a camera sliding rail component, wherein the side sliding rail component, a tyre rotation driving device, a nailing device, an image scanning device, a left self-centering pressing piece and a right self-centering pressing piece.

Description

Antiskid tyre nailing machine

Technical Field

The utility model relates to an anti-skid tyre processing technology, in particular to an anti-skid stud embedding installation for a tyre

Is a device of (a).

Background

It is known that when various vehicle rolling tires such as ordinary automobile tires and motorcycles travel on roads on which ice and snow are deposited, the vehicle cannot normally travel on ice and snow road surfaces because the vehicle is likely to slip during travel due to small grip. In order to solve the problem of skid resistance, a method of fastening a skid chain to a tire is generally adopted. The adoption of the mode of tying the link on the tire is inconvenient to use, greatly increases the weight of the tire, and seriously affects the running speed of the vehicle. Currently, the best solution is to install cleats on the tire. In practice, manual methods have been used to install cleats on tires.

In chinese patent CN201810848730.5, a nail gun for mounting a tire anti-skid nail is disclosed, wherein the handle is respectively provided with an air inlet pipeline and an air outlet pipeline, and is communicated with the ejection cavity through a control cavity; the switch control module is connected with the control cavity in a matched mode. The utility model provides a manual nail gun which can effectively improve the working efficiency of tyre anti-skid nail installation, reduce the labor intensity and improve the economic benefit of enterprises.

When the manual nail gun is used for installing the anti-skid nails on the tire, an operator installs the anti-skid nails in the nail gun according to a manual visual inspection mode, so that the manual nail gun has high labor intensity and high risk, and the operator is injured by the control error of the nail gun.

The utility model discloses a tire nailing machine in China patent CN201920298291.5, which comprises a frame, a workbench fixedly installed on the frame and a nailing device, wherein a protecting device is fixedly installed on the frame and comprises a protecting baffle and a driving cylinder for driving the protecting baffle to move, a piston rod of the driving cylinder is parallel to a horizontal plane, the protecting baffle is parallel to the horizontal plane and is positioned between the workbench and the nailing device, a through hole is formed in the protecting baffle, and the nailing device is positioned right above the through hole when the protecting baffle is pushed to move between the workbench and the nailing device. The operator can not easily stretch hands between the nailing device and the workbench, so that the operator is well protected, and the operator is not easily nailed by the nailing device.

The technical scheme is adopted, when an operator performs nailing operation, firstly, the tire to be processed is placed on the lower side of the protective baffle, the place needing nailing is aligned with the nailing device, and the protective baffle is pushed by the driving cylinder, so that the nailing device is positioned right above the passing hole. When holding the tire to be processed, the operator makes the tire to be processed butt on the protective baffle, and the operator just can not stretch into the hand between nailing device and the workstation this moment to fine protection operator makes the difficult mistake of operating personnel penetrated by nailing device and is injured.

The technical scheme is that the tire is fixedly installed essentially, the tire to be nailed is not required to be manually supported, an operator only needs to hold the nail gun to concentrate on completing the nail shooting work on the tire to be nailed in a visual inspection mode, and the occurrence probability of malignant accidents that the nail shot by the nailing machine accidentally injures the operator can be greatly reduced.

The nailing machine has low nailing efficiency, low nailing position precision, and difficulty in ensuring product quality by fully relying on practical experience and visual inspection precision of operators.

Disclosure of Invention

The utility model aims to provide an anti-skid tyre nailing machine, which can automatically center and clamp a tyre after the tyre is sent into a clamping station, then an image scanning device scans the outer circumference of the tyre to acquire data, and a control system controls a nail shooting part to safely, efficiently and accurately shoot nail planting anti-skid nails on a landing rolling surface and a left-right transitional cambered surface of the tyre.

The technical scheme adopted by the utility model is as follows:

the utility model provides a full-automatic nail machine of inlaying of antiskid tire, including the frame, fixed mounting is on the frame, install left slide rail subassembly and right slide rail subassembly respectively on the left and right stand of frame, install nail slide rail subassembly and camera slide rail subassembly respectively on the crossbeam of frame, install tire side pressure slide rail subassembly on left slide rail subassembly, install tire rotation drive arrangement on right slide rail subassembly, install nail device on nail slide rail subassembly, install image scanning device on camera slide rail subassembly, keep away from movable motor one end on tire side pressure slide rail subassembly and install rotatable left wheel self-centering pressfitting, fixed mounting has the speed reducer on the slip table of tire rotation drive arrangement, the output shaft level setting of speed reducer, the speed reducer is driven by driving wheel motor, fixed mounting has right wheel self-centering pressfitting on the output shaft of speed reducer, left wheel self-centering pressfitting and right wheel self-centering pressfitting coaxially set up, the axis of the nail mouth of inserting device and the radial cross-section of the vertical position of tire are in the coplanar, image scanning device's the face of waiting to inlay the rolling of taking place of nail.

Further, the left sliding rail assembly, the right sliding rail assembly, the nail-embedded sliding rail assembly and the camera sliding rail assembly are all screw-nut sliding assemblies driven by a servo motor or a stepping motor, and the image scanning device is a 3D camera.

Further, the specifications of the left sliding rail component and the right sliding rail component are the same and synchronously lift.

Further, the nail setting device comprises a nail setting gun, a nail setting executing part, an avoidance notch, an integrated seat, a main connecting plate, an eccentric wheel mechanism, a left limiting rod and a steering driving part, wherein the main connecting plate is fixed on a sliding table of a nail setting sliding rail assembly, a swing bearing seat hole and a driving bearing seat hole are formed in the main connecting plate, the swing bearing seat hole is located above the driving bearing seat hole, the eccentric wheel mechanism comprises a swing bearing seat, a driving bearing seat, an eccentric wheel, a connecting shaft and a shaft neck, an outer ring of the swing bearing seat is fixedly arranged in the swing bearing seat hole, an inner ring of the swing bearing seat is fixedly connected with the integrated seat, the left limiting rod is fixed on the left side edge of the integrated seat, the avoidance notch is formed below the joint of the swing bearing on the integrated seat, the outer ring of the driving bearing seat is fixedly arranged in the driving bearing seat hole of the main connecting plate, the shaft neck is fixedly arranged in the inner ring of the driving bearing seat, the steering driving part is fixedly arranged on the outer side of the main connecting plate, the connecting shaft is driven by an output shaft of the driving part, the eccentric wheel is located in the avoidance notch on the integrated seat, the nail setting executing part is arranged on the integrated seat, the nail setting executing part is fixed on the nail setting executing part, and the nail setting executing part is located on the nail setting executing part.

Further, the nail embedding gun comprises a nail dropping distributor, a gun body, self-closing clamping claws, clamping springs for shafts and ejector rods, wherein the gun body comprises a connecting flange, vertical side face grooves, a first axial clamping groove and a second axial clamping groove, a central through hole is formed in the center of the gun body, the ejector rods are sleeved in the central through hole, the vertical side face grooves are formed in the side face of the vertical gun body of the gun body at intervals, the number of the vertical side face grooves is the same as that of the self-closing clamping claws, one self-closing clamping claw is arranged in each vertical side face groove, the outer sides of all the self-closing clamping claws are elastically limited by the circumferential direction of the shaft at the first axial clamping groove, an elastic reset ring is arranged in the second axial clamping groove, the lower ends of all the self-closing clamping claws are in a closed state, axial limiting is realized in the free state, an outer inclined boss is arranged on the side face of the gun body, an inclined hole is formed in the outer inclined boss, the nail dropping distributor is fixedly arranged in the inclined hole through a shaft sleeve at the lower end of the nail dropping distributor, the upper end of the nail dropping distributor is coaxial with the inclined hole, the inclined hole is communicated with the central through hole, the inclined hole and the inclined hole is fixedly arranged on the same plane as the axis of the central through which is intersected with the central through the flange, and the axial pin is fixedly arranged on the inserted end face of the cylinder body.

Further, the comprehensive seat comprises a rotating bottom plate, a top plate, side plates, a right limiting plate and a connecting hole group, wherein the top plate and the side plates are respectively fixed on the rotating bottom plate, the top plate is positioned above the center of the connecting hole group, the side plates are positioned on the right side of the center of the connecting hole group, vertical guide rails are fixed on the side plates, and sliding blocks are arranged on the vertical guide rails; the nail embedding executing component comprises a perforation telescopic component, an L-shaped connecting plate and a nail embedding telescopic component, wherein the perforation telescopic component and the nail embedding telescopic component are respectively fixed on the upper end face and the lower end face of the L-shaped connecting plate, the L-shaped connecting plate is fixed on the sliding block, a piston rod of the perforation telescopic component is fixed on the top plate, and the piston rod of the nail embedding telescopic component and the ejector rod in the nail embedding gun are coaxially arranged.

Further, the nail dispenser is sleeved in the inclined hole through the shaft sleeve at the lower end of the nail dispenser, and is locked by the lateral locking screw from the lateral positioning hole.

Further, the steering driving part is composed of a corner motor and a speed reducer.

Further, the wheel driving motor is a servo motor.

Further, the moving motors on the left sliding rail assembly, the right sliding rail assembly, the nail embedding sliding rail assembly and the camera sliding rail assembly are servo motors.

The using method of the anti-skid tyre nailing machine comprises the following steps:

the first step: according to the diameter of the tire to be nailed, the left sliding rail component and the right sliding rail component are synchronously regulated, so that the heights of the tire side pressing sliding rail component arranged on the left sliding rail component and the tire rotating driving device arranged on the right sliding rail component are positioned at the same height position of the center of the tire, and the axes of the left wheel self-centering pressing piece and the right wheel self-centering pressing piece are ensured to be collinear with the center of the tire to be nailed;

secondly, tire entering automatic positioning and clamping

Rolling the tire to be nailed into a station to be clamped through a conveying track, starting a tire side pressure sliding rail assembly arranged on a left sliding rail assembly to move rightwards, and automatically centering and clamping the left side of the tire to be nailed with the side surface of a left wheel self-centering pressing piece under the pushing of the left wheel self-centering pressing piece;

third step, inlaid nail data acquisition

The method comprises the steps that rotation of a tire is achieved under the driving of a tire rotation driving device, at the moment, an image scanning device automatically scans a rolling surface of the tire to be studded along the horizontal direction under the driving of a servo motor on a camera sliding rail assembly, data information related to the rolling surface is collected, a control system is used for carrying out operation, setting of a nail-inlaying position program is carried out, and according to the requirement of a nail-inlaying process, the specific nail-inlaying position of the tire to be studded is determined by inputting the nail-inlaying program through the control system;

fourth, automatically inserting nails

The control system sends corresponding execution instruction programs to the nail inserting sliding rail assembly, the tire rotation driving device and the nail inserting device, so that regular nail inserting of the tire to be nailed is realized, in the nail inserting process, the nail inserting device is driven by a moving motor in the nail inserting sliding rail assembly to realize reciprocating movement along a horizontal guide rail so as to meet the left and right position adjustment of the nail inserting on the rolling surface of the tire, and the steering driving part drives the eccentric wheel mechanism to enable the comprehensive seat of the fixed nail inserting gun to rotate around the swing bearing seat, so that the nail inserting angle adjustment of the nail inserting gun is realized by stirring the left limiting rod and the right limiting plate, the limiting requirement of the limiting positions of cambered surface nail inserting on the left side and the right side of the tire is met, and the angle adjustment of the cambered surface nail inserting on the left side and the right side of the rolling surface is realized.

Through adopting above-mentioned technical scheme, when operating personnel carries out the nail operation, as long as just can carry out safe, high-efficient, the accurate nail of inlaying to the tire of waiting to process according to above-mentioned step, for providing an antiskid tire nail inlaying machine, can realize the nail of inlaying to the tire of same specification. The automatic input and output of the tire are all the prior material conveying technology, and for the control system of the equipment, a person skilled in the art can design a corresponding control scheme as long as knowing the requirements of each action of the embedded nails, and various schemes for controlling different work are available, and are not the protection content of the utility model.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

Fig. 2 is a schematic perspective view of the nailing device as seen from the front side direction.

Fig. 3 is a schematic perspective view of the nail inserting device from the direction of the nail outlet.

Fig. 4 is a schematic diagram of an assembled structure of the components in fig. 2 after disassembly.

Fig. 5 is a schematic perspective view of the nail gun.

Fig. 6 is a schematic diagram of an assembled structure of the components shown in fig. 5 after disassembly.

In the figure: 1-a stand; 2-a frame; 3-left slide rail assembly; 4-right slide rail assembly; 5-a nail-inlaid slide rail assembly; 6-camera slide rail assembly; 7-a tire side pressure slide rail assembly; 8-a tire rotation driving device; 9-a nail inserting device; 10-an image scanning device; 11-left wheel self-centering press; 12-a speed reducer; 13-a wheel-driving motor;

14-right wheel self-centering press; 91-a nail gun; 92-a staple-insert actuator; 93-avoiding a notch; 94-a comprehensive seat; 95-a main connecting plate; 96-eccentric wheel mechanism; 97-left limit rod; 98-a steering drive member; 910-a central through hole; 911-staple dispenser; 912-gun body; 913—self-closing jaws; 914-snap springs for shafts; 915-ejector rod; 916-connecting flange; 917-vertical side channel; 918-first axial slot; 919-second axial clamping groove;

9111-a sleeve; 9121-an outward sloping boss; 9122-inclined holes; 9123-side positioning holes; 921-piercing a telescoping member; 922-L-shaped connecting plates; 923-a staple inserting telescopic component; 941-rotating the bottom plate; 942-top plate;

943-side panels; 944-right limiting plate; 945-set of connecting holes; 946-vertical rails; 947-slider;

951-a wobble bearing seat hole; 952-drive shaft socket holes; 961-a rocking bearing housing; 962-drive bearing mount; 963-eccentric; 964-connecting shaft; 965-journal; 981-corner motor; 982-speed reducer.

Detailed Description

The present utility model will be described in further detail with reference to the accompanying drawings.

An anti-skid tyre nailing machine, as shown in figures 1-6, comprises a machine base 1, a machine frame 2 fixedly installed on the machine base 1, a left slide rail assembly 3 and a right slide rail assembly 4 respectively installed on left and right upright posts of the machine frame 2, a nailing slide rail assembly 5 and a camera slide rail assembly 6 respectively installed on a cross beam of the machine frame 2, a tyre side pressure slide rail assembly 7 installed on the left slide rail assembly 3, a tyre rotation driving device 8 installed on the right slide rail assembly 4, a nailing device 9 installed on the nailing slide rail assembly 5, an image scanning device 10 installed on the camera slide rail assembly 6, a rotatable left wheel self-centering press 11 installed on one end of the tyre side pressure slide rail assembly 7 far away from a moving motor, a speed reducer 12 fixedly installed on a sliding table of the tyre rotation driving device 8, an output shaft of the speed reducer 12 horizontally arranged, a right wheel self-centering press 14 fixedly installed on an output shaft of the speed reducer 12, a left wheel self-centering press 11 and a right wheel self-centering press 14 coaxially arranged on the right slide rail assembly 4, and a plane of the tyre side of the nailing device to be nailed by the tyre side surface to be nailed by the same plane as the plane of the tyre side surface to be nailed by the tyre side surface to be nailed device 10.

The left sliding rail assembly 3, the right sliding rail assembly 4, the nail-embedded sliding rail assembly 5 and the camera sliding rail assembly 6 are all screw-nut sliding assemblies driven by a servo motor, the image scanning device 10 is a 3D camera, and the specifications of the left sliding rail assembly 3 and the right sliding rail assembly 4 are the same and synchronously lifted.

The nailing device 9 comprises a nailing gun 91, a nailing executing component 92, an avoidance notch 93, a comprehensive seat 94, a main connecting plate 95, an eccentric wheel mechanism 96, a left limiting rod 97 and a steering driving component 98, wherein the main connecting plate 95 is fixed on a sliding table of a nailing sliding rail assembly 5, the main connecting plate 95 is provided with a swinging bearing seat hole 951 and a driving bearing seat hole 952, the swinging bearing seat hole 951 is positioned above the driving bearing seat hole 952, the eccentric wheel mechanism 96 comprises a swinging bearing seat 961, a driving bearing seat 962, an eccentric wheel 963, a connecting shaft 964 and a shaft neck 965, an outer ring of the swinging bearing seat 961 is fixedly arranged in the swinging bearing seat hole 951, an inner ring of the swinging bearing seat 961 is fixedly connected with the comprehensive seat 94, the left limiting rod 97 is fixedly arranged on the left side edge of the comprehensive seat 94, the lower portion of the swinging bearing seat 94 is provided with the avoidance notch 93, an outer ring of the driving bearing seat 962 is fixedly arranged in the driving bearing seat hole 952 of the main connecting plate 95, the shaft neck 965 is fixedly arranged in an inner ring of the driving bearing seat 962, the steering driving component 98 is fixedly arranged on the outer ring of the driving bearing seat 962, the outer ring of the driving bearing seat 962 is fixedly arranged on the outer ring of the driving bearing seat 95, the driving bearing seat 92 is fixedly arranged on the outer ring of the driving bearing seat 95, the driving component 92 is fixedly arranged on the comprehensive driving component 92, the comprehensive driving component 92 is fixedly arranged on the avoidance notch 92, and the comprehensive driving component 92 is fixedly arranged on the comprehensive driving component 92, and is arranged on the driving component and is arranged on the comprehensive driving component and arranged on the side and is arranged on the side and fixed and by the side and is fixed and by the driving component and arranged.

The nail embedding gun 91 comprises a nail falling distributor 911, a gun body 912, self-closing claws 913, a clamping spring 914 for a shaft and a push rod 915, wherein the gun body 912 comprises a connecting flange 916, vertical side grooves 917, a first axial clamping groove 918 and a second axial clamping groove 919, a central through hole 910 is arranged in the center of the gun body 912, the push rod 915 is sleeved in the central through hole 910, vertical side grooves 917 are arranged on the side surface of the vertical gun body of the gun body 912 at intervals, the number of the vertical side grooves 917 is the same as the number of the self-closing claws 913, one self-closing claw 913 is arranged in each vertical side groove 917, the outer sides of all the self-closing claws 913 are elastically limited by the clamping spring 914 for the shaft in the circumferential direction at the position of the first axial clamping groove 918, an elastic reset ring is arranged in the second axial clamping groove 919, the lower ends of all self-closing claws 913 are in a closed state in a free state, the axial limit is realized by inserting nails, an outer inclined boss 9121 is arranged on the side surface of a gun body 912, an inclined hole 9122 is arranged on the outer inclined boss 9121, a nail falling distributor 911 is fixedly arranged in the inclined hole 9122 through a shaft sleeve 9111 at the lower end of the outer inclined boss 9111, a nail falling hole 9112 at the upper end of the nail falling distributor 911 is coaxial with the inclined hole 9122, the inclined hole 9122 is communicated with a central through hole 910, the inclined hole 9122 is in the same plane with the axis of the central through hole 910 and is intersected, and the nail inserting gun 91 is fixedly arranged on the lower end surface of a cylinder body of a nail inserting executing component 92 through a connecting flange 916.

In this example, the integrated seat 94 includes a bottom rotating plate 941, a top plate 942, a side panel 943, a right limiting plate 944 and a connecting hole set 945, where the top plate 942 and the side panel 943 are respectively fixed on the bottom rotating plate 941, the top plate 942 is located above the center of the connecting hole set 945, the side panel 943 is located on the right side of the center of the connecting hole set 945, a vertical rail 946 is fixed on the side panel 943, and a sliding block 947 is provided on the vertical rail 946; the nail setting executing part 92 includes a perforated expansion part 921, an L-shaped connection plate 922, and a nail setting expansion part 923, the perforated expansion part 921 and the nail setting expansion part 923 are fixed on the upper and lower end surfaces of the L-shaped connection plate 922, the L-shaped connection plate 922 is fixed on a slide block 947, a piston rod of the perforated expansion part 921 is fixed on a top plate 942, and the piston rod of the nail setting expansion part 923 is coaxially arranged with a push rod 915 in the nail setting gun 91.

The driving wheel motor 13 is a servo motor, the nail falling distributor 911 is sleeved in the inclined hole 9122 through a shaft sleeve 9111 at the lower end of the driving wheel motor, and is locked by a lateral locking screw from a lateral positioning hole 9123.

The using method of the full-automatic nailing machine for the anti-skid tyre comprises the following steps:

step one: according to the diameter of the tire to be nailed, the left sliding rail assembly 3 and the right sliding rail assembly 4 are synchronously adjusted, so that the heights of the tire side pressure sliding rail assembly 7 arranged on the left sliding rail assembly 3 and the tire rotation driving device 8 arranged on the right sliding rail assembly 4 are positioned at the same height of the center of the tire, and the axes of the left wheel self-centering pressing piece 11 and the right wheel self-centering pressing piece 14 are ensured to be collinear with the center of the tire to be nailed;

step two: automatic positioning and clamping for tire entering position

Rolling the tire to be nailed into a station to be clamped through a conveying track, starting a tire side pressure sliding rail assembly 7 arranged on a left sliding rail assembly 3 to move rightwards, and enabling the left side of the tire to be nailed to move rightwards under the pushing of a left wheel self-centering pressing piece 11 to be automatically centered and clamped with the side surface of a right wheel self-centering pressing piece 14;

step three: data acquisition of embedded nails

The rotation of the tire is realized under the drive of the tire rotation driving device 8, at this moment, the image scanning device 10 automatically scans the rolling surface of the tire to be studded along the horizontal direction under the drive of the servo motor on the camera sliding rail assembly 6, collects the relevant data information of the rolling surface, carries out operation by the control system, sets a nail-setting position program, and determines the specific nail-setting position of the tire to be studded by inputting the nail-setting program through the control system according to the nail-setting process requirement;

step four: automatic insert nail

The control system sends corresponding execution instruction programs to the nail inserting slide rail assembly 5, the tire rotation driving device 8 and the nail inserting device 9, so that regular nail inserting of a tire to be nailed is realized, in the nail inserting process, the nail inserting device 9 is driven by a moving motor in the nail inserting slide rail assembly 5 to realize reciprocating movement along a horizontal guide rail so as to meet the left and right position adjustment of the nail inserting on the rolling surface of the tire, the steering driving part 98 drives the eccentric wheel mechanism 96 to enable the comprehensive seat 94 of the fixed nail inserting gun 91 to rotate around the swing bearing seat 961, and accordingly the nail inserting angle of the nail inserting gun 91 is adjusted by stirring the left limiting rod 97 and the right limiting plate 944, the limiting requirement of the nail inserting limiting positions of the cambered surfaces on the left side and the right side of the tire is met, and the angle adjustment of the cambered surface nail inserting on the left side and the right side of the rolling surface is realized.

Through adopting above-mentioned technical scheme, when operating personnel carries out the nail operation, as long as just can carry out safe, high-efficient, the accurate nail of inlaying to the tire of waiting to process according to above-mentioned step, for providing a full-automatic nail inlaying machine of antiskid tire, can realize full-automatic nail inlaying to the tire of same specification. The automatic input and output of the tire are all the prior material conveying technology, and for the control system of the equipment, a person skilled in the art can design a corresponding control scheme as long as knowing the requirements of each action of the embedded nails, and various different work control schemes exist, which are all the prior art and are not the protection content of the utility model.

The present embodiment is a preferred embodiment of the present utility model, the nail insert executing component 92 may be driven by two telescopic cylinders in cooperation, or may be driven by one telescopic cylinder, the telescopic cylinder may be a functional component such as an air cylinder, a hydraulic oil cylinder, etc., the eccentric wheel mechanism 96 may also have a substituted structure with an equal function, the steering driving component 98 may drive the eccentric wheel mechanism 96 after the steering driving component is decelerated by the decelerator 982 by adopting the corner motor 981, so as to improve the driving torque.

The technology used by the control system is the prior art, so long as all control schemes required by the nailing process action of the utility model can be realized, the implementation mode of the utility model is also provided with a plurality of equivalent functional replacement structures, the structure of the nailing gun is more, and the equivalent functional replacement schemes adopted according to the working principle of the utility model belong to the equivalent protection schemes of the utility model.

Claims (10)

1. An antiskid tyre nailing machine is characterized in that: comprises a machine base (1), a frame (2) fixedly arranged on the machine base (1), a left sliding rail component (3) and a right sliding rail component (4) which are respectively arranged on left and right upright posts of the frame (2), a nail embedding sliding rail component (5) and a camera sliding rail component (6) which are respectively arranged on a cross beam of the frame (2), a tire side pressing sliding rail component (7) arranged on the left sliding rail component (3), a tire rotation driving device (8) arranged on the right sliding rail component (4), a nail embedding device (9) arranged on the nail embedding sliding rail component (5), an image scanning device (10) arranged on the camera sliding rail component (6), a rotatable left wheel self-centering pressing piece (11) arranged at one end of the tire side pressing sliding rail component (7) far away from a mobile motor, a speed reducer (12) arranged on a sliding table of the tire rotation driving device (8), an output shaft of the speed reducer (12) arranged horizontally, a right wheel self-centering pressing piece (14) arranged on an output shaft of the speed reducer (12) fixedly arranged on the output shaft of the speed reducer (13), a radial nail embedding device (14) arranged on the same plane of the left wheel self-centering piece and the right wheel self-centering piece (11) and the radial nail embedding device (14) in the same plane, the image capturing port of the image scanning device (10) is aligned with the landing rolling surface of the tire to be studded.

2. A non-slip tire nailing machine as in claim 1 wherein: the left sliding rail assembly (3), the right sliding rail assembly (4), the nail-inlaid sliding rail assembly (5) and the camera sliding rail assembly (6) are all screw-nut sliding assemblies driven by a servo motor or a stepping motor, and the image scanning device (10) is a 3D camera.

3. A non-slip tire nailing machine as in claim 1 wherein: the left sliding rail component (3) and the right sliding rail component (4) have the same specification and synchronously lift.

4. A non-slip tire nailing machine as in claim 1 wherein: the nailing device (9) comprises a nailing gun (91), a nailing executing component (92), an avoidance gap (93), a comprehensive seat (94), a main connecting plate (95), an eccentric wheel mechanism (96) and a steering driving component (98), wherein the main connecting plate (95) is fixed on a sliding table of a nailing sliding rail component (5), a swinging bearing seat hole (951) and a driving bearing seat hole (952) are formed in the main connecting plate (95), the swinging bearing seat hole (951) is positioned above the driving bearing seat hole (952), the eccentric wheel mechanism (96) comprises a swinging bearing seat (961), a driving bearing seat (962), an eccentric wheel (963), a connecting shaft (964) and a shaft neck (965), an outer ring of the swinging bearing seat (961) is fixedly arranged in the swinging bearing seat hole (951), an inner ring of the swinging bearing seat (961) is fixedly connected with the comprehensive seat (94), a gap (93) is formed in the lower part of the comprehensive seat (94) where the swinging bearing seat is connected, an outer ring of the driving bearing seat (962) is fixedly arranged in the driving shaft (95) above the driving bearing seat hole (952), the steering driving bearing seat (952) is fixedly arranged in the driving bearing seat (95), the outer ring of the driving bearing seat (964) is fixedly arranged in the driving bearing seat (952) and the steering driving component (965) is fixedly arranged in the driving component (952) which is fixedly arranged on the outer side of the driving bearing seat (964), the eccentric wheel (963) is positioned in an avoidance notch (93) on the comprehensive seat (94), the nail-setting execution part (92) is installed on the comprehensive seat (94), the nail-setting gun (91) is fixed on the nail-setting execution part (92), and the nail-setting gun (91) drives the nail by the nail-setting execution part (92).

5. A non-slip tire nailing machine as in claim 4 wherein: the nail inserting gun (91) is characterized in that a nail dropping distributor (911), a gun body (912), self-closing jaws (913), shaft clamp springs (914) and a push rod (915), the gun body (912) comprises a connecting flange (916), vertical side grooves (917), a first axial clamping groove (918) and a second axial clamping groove (919), a central through hole (910) is arranged in the center of the gun body (912), the push rod (915) is sleeved in the central through hole (910), vertical side grooves (917) are arranged on the side surface of the vertical gun body (912) at intervals, the number of the vertical side grooves (917) is the same as the number of the self-closing jaws (913), one self-closing jaw (913) is arranged in each vertical side surface groove (917), the outer sides of all self-closing jaws (913) are elastically limited in the circumferential direction by the shaft clamp springs (914) in the first axial clamping groove (918), an elastic reset ring is arranged in the second axial clamping groove (919), the lower end of all self-closing jaws (913) are embedded in the central through hole (910), the inclined boss (9121) is arranged on the inclined boss (9111) and the inclined boss (9111) is arranged on the inclined boss (9121) in the inclined boss (91from the inclined boss (21), the nail falling hole (9112) at the upper end of the nail falling distributor (911) is coaxial with the inclined hole (9122), the inclined hole (9122) is communicated with the central through hole (910), the inclined hole (9122) is in the same plane with the axis of the central through hole (910) and is intersected with the axis of the central through hole, and the nail embedding gun (91) is fixedly arranged on the lower end face of the cylinder body of the nail embedding executing component (92) through the connecting flange (916).

6. A non-slip tire nailing machine as in claim 4 wherein: the comprehensive seat (94) comprises a rotating bottom plate (941), a top plate (942), side plates (943), a right limiting plate (944) and a connecting hole group (945), wherein the top plate (942) and the side plates (943) are respectively fixed on the rotating bottom plate (941), the top plate (942) is positioned above the center of the connecting hole group (945), the side plates (943) are positioned on the right side of the center of the connecting hole group (945), vertical guide rails (946) are fixed on the side plates (943), and sliding blocks (947) are arranged on the vertical guide rails (946); the nail embedding executing part (92) comprises a perforation telescopic part (921), an L-shaped connecting plate (922) and a nail embedding telescopic part (923), the perforation telescopic part (921) and the nail embedding telescopic part (923) are respectively fixed on the upper end face and the lower end face of the L-shaped connecting plate (922), the L-shaped connecting plate (922) is fixed on a sliding block (947), a piston rod of the perforation telescopic part (921) is fixed on a top plate (942), and the piston rod of the nail embedding telescopic part (923) and a push rod (915) in the nail embedding gun (91) are coaxially arranged.

7. A non-slip tire nailing machine as in claim 5 wherein: the nail dispenser (911) is sleeved in the inclined hole (9122) through a shaft sleeve (9111) at the lower end of the nail dispenser, and is locked by a lateral locking screw from a lateral positioning hole (9123).

8. A non-slip tire nailing machine as in claim 4 wherein: the steering driving part (98) consists of a corner motor (981) and a speed reducer (982).

9. A non-slip tire nailing machine as in claim 1 wherein: the wheel driving motor (13) is a servo motor.

10. A non-slip tire nailing machine as in claim 1 wherein: the moving motors on the left sliding rail assembly (3), the right sliding rail assembly (4), the nail embedding sliding rail assembly (5) and the camera sliding rail assembly (6) are servo motors.