A nailing device, comprising: a supporting structure; an energy storage mechanism provided in the supporting structure and capable of storing or releasing energy; an energy storage driving mechanism provided in the supporting structure and configured to drive the energy storage mechanism to store energy, wherein the energy storage driving mechanism comprises a power component, an eccentric component connected to the power component, and a linear moving component connected to the eccentric component, the power component comprises a driving motor and a decelerator mounted on an output shaft of the driving motor; a transmission nailing mechanism (400, 150), wherein the energy storage mechanism drives the transmission nailing mechanism (400, 150) to hit a nail, so as to drive the nail into a substrate; wherein during energy storage, the power component drives the eccentric component to rotate, so as to drive the linear moving component to move linearly, and enable the energy storage mechanism to store energy; when energy storage mechanism releases energy, the energy storage mechanism drives the transmission nailing mechanism (400, 150) to hit the nail; wherein the energy storage driving mechanism further comprises a one-way locking structure, the one-way locking structure is provided at the eccentric component, the one-way locking structure restricts the eccentric component to rotate in a single direction, the one-way locking structure reversely locks the eccentric component; during nailing, the driving motor drives the eccentric component to rotate, so as to pass the upper dead center position, such that the energy storage mechanism releases the energy and drives the transmission nailing mechanism (400, 150) to hit the nail, so as to drive the nail into the substrate, characterized by a position sensor, wherein the position sensor is capable of sensing a rotational position of the eccentric component; during the energy storage, the power component drives the eccentric component to rotate, so as to drive the linear moving component to move linearly, and enable the energy storage mechanism to store energy; when the position sensor senses that the eccentric component approaches an upper dead center position, the driving motor stops working. a supporting structure; an energy storage mechanism provided in the supporting structure and capable of storing or releasing energy; an energy storage driving mechanism provided in the supporting structure and configured to drive the energy storage mechanism to store energy, wherein the energy storage driving mechanism comprises a power component, an eccentric component connected to the power component, and a linear moving component connected to the eccentric component, the power component comprises a driving motor and a decelerator mounted on an output shaft of the driving motor; a transmission nailing mechanism (400, 150), wherein the energy storage mechanism drives the transmission nailing mechanism (400, 150) to hit a nail, so as to drive the nail into a substrate; wherein during energy storage, the power component drives the eccentric component to rotate, so as to drive the linear moving component to move linearly, and enable the energy storage mechanism to store energy; when energy storage mechanism releases energy, the energy storage mechanism drives the transmission nailing mechanism (400, 150) to hit the nail; wherein the energy storage driving mechanism further comprises a one-way locking structure, the one-way locking structure is provided at the eccentric component, the one-way locking structure restricts the eccentric component to rotate in a single direction, the one-way locking structure reversely locks the eccentric component; during nailing, the driving motor drives the eccentric component to rotate, so as to pass the upper dead center position, such that the energy storage mechanism releases the energy and drives the transmission nailing mechanism (400, 150) to hit the nail, so as to drive the nail into the substrate, characterized by a position sensor, wherein the position sensor is capable of sensing a rotational position of the eccentric component; during the energy storage, the power component drives the eccentric component to rotate, so as to drive the linear moving component to move linearly, and enable the energy storage mechanism to store energy; when the position sensor senses that the eccentric component approaches an upper dead center position, the driving motor stops working.