Full-automatic nail planting robot for anti-skid tires

Abstract

The invention provides an anti-skid tire full-automatic nail planting robot which comprises a main frame, the main frame comprises a U-shaped shaft rack, a portal frame and a bottom plate supporting table, and the U-shaped shaft rack and the portal frame are both arranged on the bottom plate supporting table; the clamping and rotating mechanism comprises a pushing assembly and a rotating inflation mechanism, and the pushing assembly moves towards one side of the rotating inflation mechanism to abut the tire against the rotating inflation mechanism; the conveying assembly comprises a guide rail unit, a jacking guide piece and a main jacking mechanism, and the guide rail unit slides relative to the U-shaped shaft rack and the portal frame through the jacking guide piece under the action of the main jacking mechanism; and the nail planting machine is assembled on the portal frame and is suspended above the U-shaped shaft rack. Different assemblies are matched with one another to complete complex machining procedures, the automation degree of full-automatic nail planting of the anti-skid tire is greatly improved, and the nail planting machining efficiency of the anti-skid tire is effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of nail planting, and in particular relates to a fully automatic nail planting robot with anti-skid tires. Background Art

[0002] Studded snow tires are traditional snow tires with metal studs. These studs penetrate deep into the ice and snow, increasing the tire's contact area with the icy road, significantly improving grip and anti-skid performance. Studded snow tires excel in extremely cold, snowy conditions, providing drivers with greater safety and reliability.

[0003] At present, the nailing process is complicated due to the special characteristics of the tire structure, such as the curved surface structure and changes in the inflation state. The current nailing equipment mostly uses a combination of semi-automatic and manual methods to carry out the nailing work. This type of equipment is not only complex in structure and has a low degree of automation, but also cannot effectively improve the efficiency of the nailing work. Summary of the Invention

[0004] The present invention provides a fully automatic nail-planting robot with anti-skid tires, which aims to solve the problem that current nail-planting equipment mostly adopts a combination of semi-automatic and manual methods to carry out nail-planting work, the structure of such equipment is complex and the degree of automation is low, and the efficiency of nail-planting work cannot be effectively improved.

[0005] The present invention is implemented as follows: a fully automatic nail-planting robot with an anti-skid tire, comprising:

[0006] A main frame, comprising a U-shaped shaft frame, a gantry and a base plate support platform, wherein the U-shaped shaft frame and the gantry are both arranged on the base plate support platform;

[0007] A clamping and rotating mechanism, the clamping and rotating mechanism comprising a pushing assembly and a rotating and inflating mechanism, wherein the pushing assembly moves toward one side of the rotating and inflating mechanism to hold the tire against the rotating and inflating mechanism;

[0008] The conveyor assembly includes a guide rail unit, a lifting guide, a primary lifting mechanism, and a secondary lifting mechanism. The guide rail unit, under the action of the primary lifting mechanism, adjusts its height through the lifting guide, the U-shaped axle frame, and the gantry to accommodate tires of different specifications.

[0009] A nailing machine, the nailing machine is mounted on the gantry and suspended above the U-shaped shaft frame;

[0010] The guide rail unit is provided with a limit rod for supporting the tire. The guide rail unit lifts the tire to between the clamping and rotating mechanisms under the lifting action of the secondary lifting mechanism. The pushing assembly and the rotating inflation mechanism complete the fixation of the tire. Under the rotation action of the rotating inflation mechanism, different areas of the tire outer contour are placed under the nailing machine.

[0011] Preferably, a sliding platform and an equipment platform are provided on the U-shaped shaft frame, a tire processing area is located between the sliding platform and the equipment platform, the pushing assembly is assembled on the sliding platform, and the rotating inflation mechanism is arranged on the equipment platform.

[0012] Preferably, the pushing assembly includes a main sliding base and a screw transmission mechanism, the main sliding base slides on the sliding platform, and the screw transmission mechanism generates power to drive the main sliding base to move along the sliding platform.

[0013] Preferably, a first limiting plate is provided on the rotating inflation mechanism, and a second limiting plate is provided on the side of the main sliding base close to the rotating inflation mechanism, and the first limiting plate and the second limiting plate are respectively held against both sides of the tire.

[0014] Preferably, the guide rail unit includes a sprocket frame and a sprocket mechanism provided on both sides of the sprocket frame, the sprocket mechanism, the tire enters and exits the tire processing area under the traction of the sprocket mechanism, the sprocket mechanism includes a transmission chain and a sprocket provided on the sprocket frame, the limiting rod is provided on the transmission chain, the transmission chain is meshed and connected with the sprocket, and the limiting rods are grouped in pairs to pull the tire to move.

[0015] Preferably, the secondary lifting mechanism includes a push rod unit located outside the sprocket frame, a main bearing plate and an extension plate arranged on the main bearing plate. The main bearing plate is provided with a chain bracket, and the transmission chain passes through the chain bracket. When the part of the transmission chain that pulls the tire is located in the chain bracket, the push rod unit can lift the main bearing plate, and the transmission chain and the limit rod lift the tire. After the first limit plate and the second limit plate are respectively abutted on both sides of the tire, the push rod unit lowers its height so that the limit rod is out of contact with the tire.

[0016] Preferably, the base plate support platform is further provided with two sets of main lifting mechanisms, which drive the guide rail unit to rise vertically along the U-shaped axis frame and the gantry under the limiting and guiding action of the lifting guide member;

[0017] There are four groups of jacking guides, which include a right-angle connecting frame and a guide rail. One end of the right-angle connecting frame is connected to the sprocket frame, and the other end slides on the guide rail. Different guide rails are arranged on the U-axis frame and the door frame.

[0018] Preferably, the screw transmission mechanism includes a driving shaft, a rolling slider and a limit chuck provided on the driving shaft; the rolling slider is provided on one side of the main sliding base, and the driving shaft is assembled and connected to the rolling slider.

[0019] Preferably, the pushing assembly also includes the locking pin assembly, and the limiting chuck is provided with a plurality of limiting sockets. After the screw transmission mechanism completes the movement of the main sliding base, the locking pin assembly is inserted into the limiting socket.

[0020] Preferably, the nail driving machine includes a horizontal adjustment rail, a vertical adjustment rail and a gun head assembly. The horizontal adjustment rail is arranged on the gantry. The horizontal adjustment rail moves vertically under the traction of the vertical adjustment rail, and the gun head assembly moves horizontally under the traction of the horizontal adjustment rail.

[0021] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0022] The horizontal pushing and fixing of the clamping and rotating mechanism and the lifting and longitudinal movement capabilities of the conveying components of the anti-skid tire fully automatic nailing robot provided by the present invention cooperate with each other to complete the tire loading and unloading and tire fixed clamping. The active rotation of the clamping and rotating mechanism and the adaptive moving positioning function of the nailing machine cooperate with each other to complete the rotary nailing action. Multiple groups of components cooperate with each other to complete the complex processing procedures. The overall structure of the equipment is compact and not prone to interference with each other. The equipment failure rate is low, which greatly improves the degree of automation of the anti-skid tire fully automatic nailing and effectively improves the anti-skid tire nailing processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The present invention provides a structural diagram of a fully automatic nail-planting robot with anti-skid tires.

[0024] Figure 2 This is a structural schematic diagram of the main frame, clamping and rotating mechanism, and conveying components of a fully automatic nail-planting robot with anti-skid tires provided by the present invention.

[0025] Figure 3 This is a front structural diagram of the main frame, clamping rotation mechanism and conveying assembly of a non-skid tire fully automatic nail planting robot provided by the present invention.

[0026] Figure 4 The present invention provides a schematic structural diagram of a main frame and a conveying assembly in a fully automatic nail-planting robot with anti-skid tires.

[0027] Figure 5 The present invention provides a schematic diagram of the conveying components and gantry structure of a fully automatic nail-planting robot with anti-skid tires.

[0028] Figure 6 The present invention provides a schematic diagram of a U-shaped shaft frame and a gantry structure of a fully automatic nail-planting robot with an anti-skid tire.

[0029] Figure 7The present invention provides a schematic diagram of the structure of a clamping and rotating mechanism of a fully automatic nail-planting robot with an anti-skid tire.

[0030] Figure 8 The present invention provides a schematic structural diagram of a pushing component of a fully automatic nail-planting robot with an anti-skid tire.

[0031] Figure 9 The present invention provides a schematic diagram of the structure of a conveying component of a fully automatic nail-planting robot with anti-skid tires.

[0032] Figure 10 It is an enlarged schematic diagram of the local structure at point A of a fully automatic nail-planting robot with an anti-skid tire provided by the present invention.

[0033] Description of reference numerals:

[0034] 100, main frame; 110, U-shaped axis frame; 111, sliding platform; 112, equipment platform; 120, gantry; 130, bottom plate support platform; 140, outer frame;

[0035] 200, clamping and rotating mechanism; 210, main sliding base; 211, rectangular push frame; 212, driving chamber; 213, limiting guide rail; 214, limiting slider; 220, screw transmission mechanism; 221, driving shaft; 222, first bearing seat; 223, second bearing seat; 224, limiting chuck; 225, rolling slider; 226, synchronous wheel; 230, limiting push rod; 240, driving mechanism; 251, first limiting disk; 252, second limiting disk; 260, rotating inflation mechanism;

[0036] 300, conveyor assembly; 310, guide rail unit; 311, sprocket frame; 312, sprocket mechanism; 3121, transmission chain; 3122, guide wheel; 313, limit rod; 320, fixed plate; 321, first fixed plate; 322, second fixed plate; 330, lifting guide; 331, right-angle connecting frame; 332, guide rail; 340, main lifting mechanism; 350, secondary lifting mechanism; 351, push rod unit; 352, main bearing plate; 353, extension plate; 354, chain bracket;

[0037] 400. Nailer; 500. Operation panel; 600. Tire. DETAILED DESCRIPTION

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0039] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0040] The embodiment of the present invention provides a fully automatic nailing robot for anti-skid tires, which is used to plant nails on the surface of a tire 600. Figures 1-8 As shown, the anti-skid tire fully automatic nail planting robot includes:

[0041] The main frame 100 includes a U-shaped shaft frame 110, a gantry 120, a base plate support platform 130, and an outer frame 140. The U-shaped shaft frame 110 and the gantry 120 are both arranged on the base plate support platform 130. A connecting rod is provided between the U-shaped shaft frame 110 and the gantry 120 to enhance the overall support strength. The U-shaped shaft frame 110 is a U-shaped structure as a whole. The U-shaped area is the tire processing area, and a sliding platform 111 and an equipment platform 112 are respectively provided on both sides of the U-shaped shaft frame 110. The outer frame 140 is arranged outside the main frame area formed by the U-shaped shaft frame 110, the gantry 120, and the base plate support platform 130, and serves as a loading platform for auxiliary equipment such as the operating panel 500 and the protective cover of the anti-skid tire fully automatic nailing robot.

[0042] The clamping and rotating mechanism 200 includes a main sliding base 210, a screw transmission mechanism 220 and a rotating and inflating mechanism 260. The pushing assembly is assembled on the sliding platform 111, and the rotating and inflating mechanism 260 is arranged on the equipment platform 112; the screw transmission mechanism 220 generates power to drive the main sliding base 210 to move along the sliding platform 111, and the rotating and inflating mechanism 260 is provided with a first limit plate 251, and the main sliding base 210 is provided with a second limit plate 252 on the side close to the rotating and inflating mechanism 260. The first limit plate 251 and the second limit plate 252 are respectively held against both sides of the tire 600.

[0043] The conveying assembly 300 includes a guide rail unit 310, a jacking guide 330, a main jacking mechanism 340 and a secondary jacking mechanism 350. The guide rail unit 310 slides relative to the U-shaped shaft frame 110 and the gantry 120 through the jacking guide 330 under the action of the main jacking mechanism 340. The guide rail unit 310 is responsible for pulling the tire 600 in and out of the tire processing area, and the guide rail unit 310 is height-adjustable on the jacking guide 330 and the main jacking mechanism 340 to meet the needs of tires 600 of different specifications. The secondary jacking mechanism 350 acts on the transmission chain 3121 provided on the guide rail unit 310. The secondary jacking mechanism 350 lifts the tire 600 to an appropriate height so that its axis coincides with the axis line between the first limit plate 251 and the second limit plate 252. During the rotation, the secondary jacking mechanism 350 naturally falls to prevent the guide rail unit 310 from interfering with the rotation process.

[0044] The nailing machine 400 is mounted on the gantry 120 and suspended above the U-shaped shaft frame 110. The nailing machine 400 includes a horizontal adjustment track, a vertical adjustment track, and a gun head assembly. The horizontal adjustment track is provided on the gantry 120 and moves vertically under the traction of the vertical adjustment track. The gun head assembly is a conventional mechanism and moves horizontally under the traction of the horizontal adjustment track. It should be noted that the axis between the first limit plate 251 and the second limit plate 252 is located within the movement plane of the gun head assembly.

[0045] In the present application, the clamping and rotating mechanism 200 and the conveying assembly 300 cooperate with each other to complete the loading and unloading of tires and the fixing of inflated and rotating tires. The clamping and rotating mechanism 200 and the nailing machine 400 cooperate with each other to complete the rotary nailing action. Multiple groups of components cooperate with each other to complete complex processing procedures. The overall structure of the equipment is compact and not prone to interference with each other. The equipment failure rate is low, which greatly improves the degree of automation of the fully automatic nailing of anti-skid tires and effectively improves the efficiency of the anti-skid tire nailing processing.

[0046] As a preferred embodiment of this embodiment, the main sliding base 210 includes a rectangular push frame 211, a limiting guide rail 213, a limiting slider 214 and a driving cavity 212 provided at the center of the rectangular push frame 211; the limiting slider 214 is provided on the rectangular push frame 211, and the limiting slider 214 slides on the limiting guide rail 213. Here, the limiting guide rail 213 is arranged on the sliding platform 111, and the function of the limiting guide rail 213 is to limit the pushing movement direction of the main sliding base 210;

[0047] The screw transmission mechanism 220 includes a driving shaft 221, a first bearing seat 222, a second bearing seat 223, a rolling slider 225 and a limiting chuck 224 provided on the driving shaft 221; the rolling slider 225 is provided on one side of the rectangular push frame 110, the driving shaft 221 is assembled and connected to the rolling slider 225 and extends from the rolling slider 225 into the driving cavity 212; the second bearing seat 23 is located outside the rectangular push frame 211, the first bearing seat 222 is located in the driving cavity 212, and the driving shaft 221 is assembled with the first bearing seat 222 and the second bearing seat 223; the assembly structure of the driving shaft 221 and the rolling slider 225 is the same as the assembly method between the ball screw and the nut in the prior art;

[0048] The locking pin assembly 230 is provided with a plurality of limiting sockets on the limiting chuck 224. After the screw drive mechanism completes the movement of the main sliding base 210, the locking pin assembly 230 is inserted into the limiting sockets. The locking pin assembly 230 can be an electric, pneumatic or hydraulic push rod;

[0049] The driving mechanism 240 and the rotating inflation mechanism 260 are provided. The driving mechanism 240 uses a servo motor as the driving power, and the driving mechanism 240 uses a synchronous wheel and a synchronous belt to realize power transmission with the driving shaft 221. The rotating inflation mechanism 260 is provided with a rotating mechanism, an inflation mechanism and a correction device.

[0050] A first limiting plate 251 and a second limiting plate 252 are provided. The first limiting plate 251 is mounted on the rotating mechanism, and the second limiting plate 252 is mounted on the main sliding base 210 via a bearing. When the tire 600 is engaged between the first limiting plate 251 and the second limiting plate 252, the rotating mechanism and the inflation mechanism are both conventional technologies and can inflate and rotate the tire 600. The correction device mainly uses an encoder to correct the rotation of the tire 600.

[0051] In this embodiment, the driving shaft 221 rotates under the action of the first bearing seat 222 and the second bearing seat 223, which is equivalent to the screw of the ball screw structure; the end surface of the rectangular push frame 211 away from the locking pin assembly 230 is a push surface, and the side of the rectangular push frame 211 away from the push surface is provided with a receiving groove, and the rolling slider 225 is assembled in the receiving groove. The driving shaft 221 and the rolling slider 25 adopt the technical principle of the ball screw to realize transmission. Here, the rolling slider 250 is fixedly connected to the receiving groove;

[0052] The main sliding base 210 mainly uses the technical principle of the ball screw of the driving shaft 221 and the rolling slider 225 to achieve displacement limitation, helping the main sliding base 210 to complete the functions of pushing and supporting, and the locking pin assembly 230 can adopt the technical principle of the existing pneumatic push rod or other types of push rods. The push rod diameter of the locking pin assembly 230 is adapted to the aperture of the limiting socket. When the locking pin assembly 230 is inserted into the limiting socket, the locking pin assembly 230 completes the limiting locking of the limiting chuck 224. During the pushing and supporting process, the limiting effect of the main sliding base 210 is achieved by the locking pin assembly 230 on the limiting The clamping action of the positioning chuck 224 is shared. When the tire is inflated, a large thrust is generated on the main sliding base 210, which drives the driving shaft 221 to rotate. At this time, the driving force of the driving mechanism 240 cannot resist the rotational torque generated by the large axial force. Therefore, the use of this locking structure can effectively help the driving mechanism 240 to share the torque. The pneumatic push rod 230 is limited by the annular support force, so the pneumatic components of the pneumatic push rod 230 in the radial direction are not easily damaged. Since the tire exerts a large thrust on the first limiting plate 251 and the second limiting plate 252 after inflation, the main sliding base 210 needs to provide sufficient support force.

[0053] The rotating mechanism is mainly composed of a bearing seat, a rotating shaft connected to the first limiting plate 251, and an external motor. The external motor and the rotating shaft are driven by a synchronous belt and synchronous pulley. The motor shaft of the external motor is also driven by the encoder through a synchronous belt and synchronous pulley to facilitate the correction of the actual rotation of the tire 600. The inflation mechanism is a conventional technology that mainly inflates the tire. Specifically, the inflation hole provided on the first limiting plate 251 and connected to the interior of the tire 600 is used for inflation to ensure stability during the nailing process.

[0054] As a preferred embodiment of this embodiment, the guide rail unit 310 includes a sprocket frame 311 and sprocket mechanisms 312 provided on both sides of the sprocket frame 311. The tire 600 enters and exits the tire processing area under the traction of the sprocket mechanism 312. The base plate support platform 130 is also provided with two sets of main lifting mechanisms 340.

[0055] There are four sets of lifting guides 330, each comprising a right-angle connecting frame 331 and a guide rail 332. One end of the right-angle connecting frame 331 is connected to the sprocket frame 311, and the other end slides on the guide rail 332. Different guide rails 332 are provided on the U-shaped shaft frame 110 and the gantry 120.

[0056] In this embodiment, the main lifting mechanism 340 drives the guide rail unit 310 to rise vertically along the U-shaped axis frame 110 and the gantry 120 under the limiting and guiding action of the lifting guide member 330;

[0057] The sprocket mechanism 312 includes a transmission chain 3121, a sprocket 3122, and a drive motor. The sprocket 3122 and the drive motor are arranged on the sprocket frame 311. The transmission chain 3121 and the sprocket 3122 are the main moving parts. The limit rod 313 responsible for carrying the tire 600 is connected to the transmission chain 3121 and moves synchronously with the transmission chain 3121.

[0058] As a preferred implementation in this embodiment, the secondary lifting mechanism 350 includes a push rod unit 351 located outside the sprocket frame 311 and using electric push rod, pneumatic or hydraulic push rod technology, a main bearing plate 352 and an extension plate 353 provided on the main bearing plate 352. The main bearing plate 352 is provided with a chain bracket 354, and the transmission chain 3121 passes through the chain bracket 354. When the portion of the transmission chain 3121 pulling the tire 600 is located in the chain bracket 354, the push rod unit 351 can lift the main bearing plate 352, causing the transmission chain 3121 to rise upward.

[0059] In this embodiment, the secondary lifting mechanism 350 is mainly used to allow the tire 600 to be separated from the limit rod 313 during the process of being rotated and nailed by the clamping and rotating mechanism 200. The secondary lifting mechanism 350 is located below the clamping and rotating mechanism 200. When the tire 600 is located on the limit rod 313, the height of the center line of the tire 600 is lower than the height of the center line of the rotating shaft of the clamping and rotating mechanism 200. Before clamping, the secondary lifting mechanism 350 is required to lift it until the center line of the tire 600 coincides with the center line of the rotating shaft of the clamping and rotating mechanism 200.

[0060] As a preferred embodiment of this embodiment, the sprocket frame 311 is further provided with a fixing plate 320, which includes a first fixing plate 321 and a second fixing plate 322. The first fixing plate 321 and the second fixing plate 322 are respectively arranged on both sides of the guide rail unit 310. When the tire 600 leaves the tire processing area, the fixing plate 320 clamps the tire 600 to ensure that the tire 600 is in a vertical position when moving to the back-end process. The fixing plate 320 is located on the sprocket frame 311 away from the clamping and rotating mechanism 200. The second fixing plate 322 can be used to hold the tire 600 against the first fixing plate 321 by other pushing devices, such as electric or hydraulic push rod structures.

[0061] It should be noted that for the aforementioned embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0062] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the embodiments described are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also fall within the scope of protection of the present invention.

Claims

1. A fully automatic nail-planting robot for anti-skid tires, used for planting nails on the surface of a tire (600), characterized in that: include: A main frame (100), the main frame (100) comprising a U-shaped shaft frame (110), a gantry (120) and a bottom plate support platform (130), the U-shaped shaft frame (110) and the gantry (120) both being arranged on the bottom plate support platform (130); A clamping and rotating mechanism (200), the clamping and rotating mechanism (200) comprising a pushing assembly and a rotating and inflating mechanism (260), wherein the pushing assembly moves toward one side of the rotating and inflating mechanism (260) to hold the tire (600) against the rotating and inflating mechanism (260); A conveying assembly (300) comprising a guide rail unit (310), a lifting guide member (330), a main lifting mechanism (340), and a secondary lifting mechanism (350); the guide rail unit (310) changes height under the action of the main lifting mechanism (340) through the lifting guide member (330), the U-shaped shaft frame (110), and the door frame (120) to adapt to tires (600) of different specifications; A nailing machine (400), the nailing machine (400) is assembled on the gantry (120) and suspended above the U-shaped shaft frame (110); The guide rail unit (310) is provided with a limit rod (313) for supporting the tire. The guide rail unit (310) lifts the tire (600) between the clamping and rotating mechanisms (200) under the lifting action of the secondary lifting mechanism (350). The pushing assembly and the rotating and inflating mechanism (260) complete the fixing of the tire. Under the rotating action of the rotating and inflating mechanism (260), different areas of the outer contour of the tire are placed below the nailing machine (400).

2. The fully automatic nail-planting robot with anti-skid tires according to claim 1, characterized in that: A sliding platform (111) and an equipment platform (112) are provided on the U-shaped shaft frame (110); a tire processing area is located between the sliding platform (111) and the equipment platform (112); the pushing assembly is assembled on the sliding platform (111); and the rotating inflation mechanism (260) is arranged on the equipment platform (112).

3. The fully automatic nail-planting robot with anti-skid tires according to claim 2, characterized in that: The push assembly comprises a main sliding base (210) and a screw transmission mechanism (220), wherein the main sliding base (210) slides on the sliding platform (111), and the screw transmission mechanism (220) generates power to drive the main sliding base (210) to move along the sliding platform (111).

4. The fully automatic nail-planting robot with anti-skid tires according to claim 3, characterized in that: A first limiting plate (251) is provided on the rotating inflation mechanism (260), and a second limiting plate (252) is provided on a side of the main sliding base (210) close to the rotating inflation mechanism (260). The first limiting plate (251) and the second limiting plate (252) are respectively held against two sides of the tire (600).

5. The fully automatic nail-planting robot with anti-skid tires according to claim 1, characterized in that: The guide rail unit (310) includes a sprocket frame (311) and sprocket mechanisms (312) provided on both sides of the sprocket frame (311). The tire (600) moves in and out of the tire processing area under the traction of the sprocket mechanism (312). The sprocket mechanism (312) includes a transmission chain (3121) and a sprocket (3122) provided on the sprocket frame (311). The limiting rods (313) are provided on the transmission chain (3121). The transmission chain (3121) is meshedly connected with the sprocket (3122). The limiting rods (313) are arranged in groups of two to traction the tire (600) to move.

6. The fully automatic nail-planting robot with anti-skid tires according to claim 5, characterized in that: The secondary lifting mechanism (350) includes a push rod unit (351) located outside the sprocket frame (311), a main bearing plate (352), and an extension plate (353) arranged on the main bearing plate (352). The main bearing plate (352) is provided with a chain bracket (354). The transmission chain (3121) passes through the chain bracket (354). When the portion of the transmission chain (3121) pulling the tire (600) is located in the chain bracket (354), the push rod unit (351) can lift the main bearing plate (352). The transmission chain (3121) and the limiting rod (313) lift the tire (600). After the first limiting plate (251) and the second limiting plate (252) respectively abut against both sides of the tire (600), the push rod unit (351) descends so that the limiting rod (313) is out of contact with the tire (600).

7. The fully automatic nail-planting robot with anti-skid tires according to claim 5, characterized in that: Two sets of main lifting mechanisms (340) are also provided on the base plate support platform (130). The main lifting mechanisms (340) drive the guide rail unit (310) to vertically rise along the U-shaped axis frame (110) and the door frame (120) under the limiting and guiding action of the lifting guide member (330); The number of the jacking guide members (330) is four. The jacking guide members (330) include a right-angle connecting frame (331) and a guide rail (332). One end of the right-angle connecting frame (331) is connected to the sprocket frame (311), and the other end slides on the guide rail (332). Different guide rails (332) are respectively arranged on the U-shaped shaft frame (110) and the door frame (120).

8. The fully automatic nail-planting robot with anti-skid tires according to claim 4, characterized in that: The screw transmission mechanism (220) comprises a driving shaft (221), a rolling slider (225) and a limit chuck (224) arranged on the driving shaft (221); the rolling slider (225) is arranged on one side of the main sliding base (210), and the driving shaft (221) and the rolling slider (225) are assembled and connected.

9. The fully automatic nail-planting robot with an anti-skid tire according to claim 8, characterized in that: The pushing assembly further comprises the locking pin assembly (230), and the limiting chuck (224) is provided with a plurality of limiting sockets. After the screw transmission mechanism completes the position movement of the main sliding base (210), the locking pin assembly (230) is inserted into the limiting sockets.

10. The fully automatic nail-planting robot with anti-skid tires according to claim 1, characterized in that: The nailing machine (400) comprises a horizontal adjustment track, a vertical adjustment track and a gun head assembly. The horizontal adjustment track is arranged on a gantry (120). The horizontal adjustment track moves vertically under the traction of the vertical adjustment track, and the gun head assembly moves horizontally under the traction of the horizontal adjustment track.

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