Method for improving end plate bolt dismounting efficiency based on double pneumatic cannons

Abstract

The invention discloses a method for improving end plate bolt dismounting efficiency based on double jackhammers, the double jackhammers independently move in an end plate plane to be used for dismounting end plate bolts, and the method comprises the steps that S1, the bolts are divided into a first bolt group close to a jackhammer A and a second bolt group close to a jackhammer B; s2, redundant bolts are detached, so that the number of the first bolt sets is the same as that of the second bolt sets; s3, numbering the bolts: sequentially numbering the bolts A1 to Ai to An and the bolts B1 to Bi to Bn according to a clockwise sequence to form correspondence between Ai and Bi; s4, establishing a non-interference safety condition; s5, the bolts A1-B1... Ai-Bi... An-Bn are synchronously disassembled through the double jackhammers, and before each pair of bolts is disassembled, the non-interference safety condition is judged; if yes, dismounting is executed, and if not, dismounting is stopped, and a prompt is given. According to the method for improving the end plate bolt dismounting efficiency based on the double jackhammers, the target moving positions of the two jackhammers are calculated according to the number and the positions of the bolts, on the premise that the two jackhammers do not interfere with each other and do not collide with each other, rapid and efficient dismounting is achieved, and the dismounting efficiency is improved.

Description

Technical Field

[0001] The present application provides a method for improving the efficiency of removing end plate bolts based on double jackhammers, and relates to the technical field of construction engineering. Background Art

[0002] The assembly of the end plate and flange plate components of the pipe pile is generally locked by bolts. After the pipe pile is produced, the end plate bolts need to be removed. The currently commonly used single pneumatic cannon bolt removal equipment only has one pneumatic cannon for removing the bolts. Due to the number and angle of the bolts on the end plate, each bolt requires a certain amount of time to remove. The bolt removal equipment adopts a single pneumatic cannon disassembly method, which takes a long time and has low disassembly efficiency.

[0003] If the number of air cannons in the bolt removal equipment is increased, interference between the multiple air cannons during movement may easily occur due to the close distribution of the end plate bolts. Summary of the invention

[0004] The technical problem to be solved by the present application is the movement interference problem of the end plate bolts when multiple air guns are removed.

[0005] In order to solve the above technical problems, the technical solution of the present application provides a method for improving the efficiency of removing end plate bolts based on double jackhammers, characterized in that the double jackhammers include jackhammer A and jackhammer B, and the jackhammer A and jackhammer B move independently in the end plate plane for removing the end plate bolts, and an XoY coordinate system is established with the end plate plane, the position of jackhammer A is recorded as (xa, ya), and the position of jackhammer B is recorded as (xb, yb); the specific steps of the method include:

[0006] S1, dividing the bolts on the end plate into a first bolt group close to the side of the wind cannon A and a second bolt group close to the side of the wind cannon B;

[0007] S2, the bolts on the end plate are odd or even, and the number of bolts in the first bolt group and the number of bolts in the second bolt group are divided into the same or the difference is one. If the difference is one, use any air gun to remove the extra bolt first so that the number of bolts in the first bolt group is the same as the number of bolts in the second bolt group;

[0008] S3, numbering the bolts of the first bolt group in clockwise order as bolts A1, A2...Ai...An, and numbering the bolts of the second bolt group in clockwise order as bolts B1, B2...Bi...Bn, forming a corresponding relationship of A1 to B1, A2 to B2, Ai to Bi, and An to Bn;

[0009] S4. Establish non-interference safety conditions;

[0010] The non-interference safety distance includes: the absolute value non-interference safety distance of the X coordinate difference is Lr, the absolute value non-interference safety distance of the Y coordinate difference is Ls, the center non-interference safety distance of the two bolts is Lt, and the center non-interference safety distance of the two air guns is Lw;

[0011] Calculate the coordinate distance between bolt Ai coordinates (xai, yai) and bolt Bi coordinates (xbi, ybi), including: X coordinate difference absolute value Lo = |(xai-xbi) |, Y coordinate difference absolute value Lp = |(yai-ybi) |, the center distance between the two bolts Lq = √[(xai-xbi)2+(yai-ybi)2], the center distance between the two blast holes Lu = √[(xa-xb)2+(ya-yb)2];

[0012] The non-interference safety conditions include four:

[0013] Condition 1. Lo≥Lr;

[0014] Condition 2: Lp≥Ls;

[0015] Condition 3. Lq≥Lt;

[0016] Condition 4. Lu≥Lw;

[0017] S5, jackhammer A and jackhammer B respectively and synchronously remove bolts A1-B1, A2-B2...Ai-Bi...An-Bn in sequence, and before removing each pair of bolts, determine the non-interference safety condition;

[0018] If the non-interference safety conditions are met, disassembly is performed;

[0019] If the non-interference safety conditions are not met, disassembly will be stopped and a prompt will be given.

[0020] Preferably, the air cannon A is arranged on a two-dimensional mobile device consisting of a first vertical Y-direction moving mechanism and a first horizontal X-direction moving mechanism, and the air cannon B is arranged on a two-dimensional mobile device consisting of a second vertical Y-direction moving mechanism and a second horizontal X-direction moving mechanism, the first horizontal X-direction moving mechanism and the second horizontal X-direction moving mechanism share the same set of slide rails, the first vertical Y-direction moving mechanism is parallel to the second vertical Y-direction moving mechanism, the air cannon A and the air cannon B are both perpendicular to the end plate plane, the air cannon A and the air cannon B move independently parallel to the end plate plane, and the air cannons are driven to the target bolt position by the corresponding moving mechanism for removing the end plate bolts.

[0021] Preferably, the bolts are evenly distributed along the circumference of the end plate, and the boundary between the first bolt group and the second bolt group is close to the positions of 0° and 180° of the circumference.

[0022] Preferably, the process of dividing the bolt groups in step S1 includes:

[0023] If the number of bolts is an odd number, define a first bolt and take the bolt closest to 0° of the circumference as the first bolt.

[0024] Preferably, the first bolt is recorded as A0, and the first bolt A0 is the bolt that needs to be removed separately first, and is assigned to the air cannon A for removal first. The remaining bolts are divided into the first bolt group and the second bolt group with the same number, which are bolts A1, A2...Ai...An, bolts B1, B2...Bi...Bn in clockwise order.

[0025] Preferably, the process of dividing the bolt groups in step S1 includes:

[0026] If the number of bolts is an even number, define a first bolt, and take the bolt closest to 0° of the end plate circumference between 0°-90° as the first bolt.

[0027] Preferably, the first bolt is marked as A1, and all bolts are divided into a first bolt group and a second bolt group of equal number, which are bolts A1, A2...Ai...An, bolts B1, B2...Bi...Bn in clockwise order.

[0028] Preferably, the prompt in step S5 includes sound and light prompts.

[0029] The technical solution of the present application also provides a system for improving the efficiency of removing end plate bolts based on double pneumatic cannons, which is used for the aforementioned method for improving the efficiency of removing end plate bolts based on double pneumatic cannons.

[0030] The technical solution of the present application also provides a non-transitory computer-readable storage medium storing computer program instructions, wherein the computer program instructions are configured to execute the aforementioned method for improving the efficiency of removing end plate bolts based on double jackhammers during operation.

[0031] The present application provides a method for improving the efficiency of removing end plate bolts based on double pneumatic cannons, which calculates the target moving positions of the two pneumatic cannons according to the number and positions of the bolts, and achieves fast and efficient removal without interference or collision between the two pneumatic cannons, thereby improving the dismantling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the jackhammer, end plate and bolts provided in the embodiment of the present application;

[0033] Figure 2 A rectangular coordinate definition diagram of the jackhammer mechanism provided in the embodiment of the present application;

[0034] Figure 3 The rectangular coordinate definition diagram of the end plate provided in the embodiment of the present application;

[0035] Figure 4The total number of bolt angle diagrams provided for the embodiments of this application is an odd number;

[0036] Figure 5 The total number of bolt angle diagrams provided for the embodiments of the present application is an even number;

[0037] Figure 6 A coordinate definition diagram of bolts with an even number of bolts provided in the embodiment of the present application;

[0038] Figure 7 A total of an odd number of bolt coordinate definition diagrams provided for the embodiments of the present application;

[0039] Figure 8 A flow chart of the disassembly control method provided in an embodiment of the present application;

[0040] Explanation of the reference numerals: 1-air cannon A; 2-air cannon B; 3-first vertical Y-direction moving mechanism; 4-first horizontal X-direction moving mechanism; 5-second vertical Y-direction moving mechanism; 6-second horizontal X-direction moving mechanism; 7-bolt; 8-end plate. DETAILED DESCRIPTION

[0041] To make the application more obvious and easy to understand, various exemplary embodiments will be introduced below. These examples are non-limiting, and it should be understood that they are used for the more general application aspects of the illustrative device, system and method. Without departing from the substantive content and scope of the application, these embodiments can be subjected to multiple changes, and can be replaced by equivalents. In addition, multiple changes can be carried out to adapt to the purpose, content or scope of the application in order to adapt to special situations, materials, material components, treatment types, treatment actions or steps. All these changes will be within the protection scope of the application.

[0042] For any materials, dimensions, quantities introduced in the overview or detailed description, they will be examples only and are not intended to limit the subject matter of the present application. Moreover, the various implementations of the embodiments described herein will complement each other, rather than purely interchangeably, unless otherwise indicated. In other words, implementations from one embodiment can be freely combined with implementations of other embodiments, as those of ordinary skill in the art will readily appreciate, unless it is indicated that these implementations are only for replacement.

[0043] In the description of this application, it should be noted that the terms "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed when in use, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0044] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] Example

[0046] The present application embodiment provides a control method for removing end plate bolts with double air jacks, see Figure 1 , Figure 2 and Figure 3 The double air cannon includes an air cannon A1 and an air cannon B2. The air cannon A is arranged on a two-dimensional mobile device composed of a first vertical Y-direction moving mechanism 3 and a first horizontal X-direction moving mechanism 4. The air cannon B is arranged on a two-dimensional mobile device composed of a second vertical Y-direction moving mechanism 5 and a second horizontal X-direction moving mechanism 6. The first horizontal X-direction moving mechanism 4 and the second horizontal X-direction moving mechanism 6 share the same set of slide rails. The first vertical Y-direction moving mechanism 3 is parallel to the second vertical Y-direction moving mechanism 5. The air cannon A and the air cannon B are both perpendicular to the end plate plane. The air cannon A1 and the air cannon B2 move independently parallel to the end plate plane. The air cannons are driven to the target bolt position by each moving mechanism for removing the end plate bolts.

[0047] It can be understood that each mobile mechanism and cannon are conventional equipment for removing bolts. The cannon is used to remove the target bolts, and the mobile mechanism is used to drive the cannon to the target bolt position. The present application does not involve improvements to the two-dimensional mobile device and the cannon structure. By determining the target bolt positions of cannon A and cannon B respectively, the corresponding mobile mechanisms drive cannon A and cannon B to move to the target bolt positions to remove the bolts, which is easily achieved in the prior art. The control method for removing end plate bolts with double cannons provided in the present application mainly determines the target bolts of cannon A and cannon B respectively, avoids interference problems during the movement of the double cannons, and thus improves the efficiency of removing end plate bolts.

[0048] The XoY coordinate system is established with the plane of the end plate. For an end plate of a specific specification, the position of each bolt on the end plate is known; the position of jackhammer A is recorded as (xa, ya), and the position of jackhammer B is recorded as (xb, yb). For example, the center of the end plate is defined as the origin of the XoY coordinate system. When jackhammer A moves to point to the center of the end plate, the position of jackhammer A is (0, 0). When jackhammer B moves to point to the center of the end plate, the position of jackhammer B is (0, 0). If jackhammer A and jackhammer B move to the center of the end plate at the same time, interference will occur. If jackhammer A and jackhammer B are too close in the X direction, interference will also occur. If jackhammer A and jackhammer B are too close in the Y direction, interference will also occur. If jackhammer A and jackhammer B are too close in the XoY coordinate system, interference will also occur.

[0049] In order to avoid interference between jackhammer A and jackhammer B and improve the efficiency of bolt removal, the method specifically includes:

[0050] S1, dividing the bolts on the end plate into a first bolt group close to the side of the wind cannon A and a second bolt group close to the side of the wind cannon B; based on the fact that the bolts on the end plate are evenly distributed along the circumference, the boundary between the first bolt group and the second bolt group is generally close to the position of 0° and 180° of the circumference;

[0051] S2. The bolts on the end plate may be an odd number or an even number. The number of bolts in the first bolt group and the number of bolts in the second bolt group are divided into the same number or the difference is one. If the difference is one, use any air gun to remove the extra bolt first so that the number of bolts in the first bolt group is the same as the number of bolts in the second bolt group;

[0052] S3. The bolts of the first bolt group are numbered in clockwise order as bolts A1, A2...Ai...An, and the bolts of the second bolt group are numbered in clockwise order as bolts B1, B2...Bi...Bn, forming a corresponding relationship between A1 and B1, A2 and B2, Ai and Bi, and An and Bn. It can be found that Ai and Bi are basically distributed at both ends of the circumference relative to the origin and are relatively far apart;

[0053] S4. Establish non-interference safety conditions;

[0054] The non-interference safety distance includes: the non-interference safety distance of the absolute value of the X-coordinate difference is Lr, the non-interference safety distance of the absolute value of the Y-coordinate difference is Ls, the non-interference safety distance of the centers of the two bolts is Lt, and the non-interference safety distance of the centers of the two jackhammers is Lw. The specific values ​​of Lr, Ls, Lt, and Lw depend on known conditions such as the shape of the bolts, the shape and size of the jackhammers, and Lr, Ls, Lt, and Lw are determined in advance by the technicians according to the actual situation multiplied by the safety factor;

[0055] Calculate the coordinate distance between Ai(xai,yai) and Bi(xbi,ybi), including: X coordinate difference absolute value Lo = |(xai-xbi) |, Y coordinate difference absolute value Lp = |(yai-ybi) |, the center distance between the two bolts Lq = √[(xai-xbi)2+(yai-ybi)2], the center distance between the two blast holes Lu = √[(xa-xb)2+(ya-yb)2];

[0056] The non-interference safety conditions include four:

[0057] Condition 1. Lo≥Lr;

[0058] Condition 2: Lp≥Ls;

[0059] Condition 3. Lq≥Lt;

[0060] Condition 4. Lu≥Lw;

[0061] S5, jackhammer A and jackhammer B respectively and synchronously remove bolts A1-B1, A2-B2...Ai-Bi...An-Bn in sequence, and before removing each pair of bolts, determine the non-interference safety condition;

[0062] If the non-interference safety conditions are met, disassembly is performed;

[0063] If the non-interference safety conditions are not met, disassembly will be stopped and a prompt will be given.

[0064] It can be understood that the method provided in the present application usually needs to be executed through the main control device such as the main control chip and the controller to run the control program to control the relevant moving mechanisms and air cannons; the implementation of the method related steps often needs to be implemented through code. Based on the method and technical solutions provided above, it is easy for automation developers to develop corresponding codes for controlling the actuators according to the specific actuators; exemplarily, the prompt in step S5 can be prompted at the software level, or through sound and light methods such as buzzers and alarms.

[0065] In a further embodiment, the process of dividing the bolt groups in step S1 is as follows for the number of bolts being odd or even:

[0066] Define a first bolt, and take a bolt near 0° of the end plate as the first bolt;

[0067] When the end plate is an odd end plate (with an odd number of bolts), there are bolts with an angle of θ1 (the angle of the circle where the bolt is located is θ1) and bolts with an angle of θ2 near 0° of the end plate, where θ1 is between 0° and 90°, and θ2 is between 270° and 0°. Compare the values ​​of θ1 and (360°-θ2), and the smaller value is the first bolt of the odd end plate (that is, the bolt closest to the circle 0°), see Figure 4 ;

[0068] When the end plate is an even end plate (with an even number of bolts), there are bolts with an angle of θ3 and a bolt with an angle of θ4 near the end plate 0°, where θ3 is between 0° and 90°, and θ4 is between 270° and 0°. The bolt with an angle between 0° and 90° is the first bolt of the even end plate (i.e., the bolt closest to 0° on the circumference between 0°-90°), see Figure 5 ;

[0069] See also Figure 6 , when the end plate is an even end plate (with an even number of bolts), take A1 as the first bolt; the bolts that need to be removed by wind cannon A are A1, A2,,, An, and the bolts that need to be removed by wind cannon B are B1, B2,,, Bn, where n is an integer greater than or equal to 1; remove the bolts according to the above steps S4 and S5, and calculate the coordinate distance between the bolt An (xan, yan) and the bolt Bn (xbn, ybn), which are the absolute value of the X coordinate difference Lo = |(xan-xbn) |, the absolute value of the Y coordinate difference Lp = |(yan-ybn) |, and the center distance Lq = √[(xan-xbn)2+(yan-ybn)2], the center distance of the two jackhammers Lu=√[(xa-xb)2+(ya-yb)2]; the absolute value non-interference safety distance of the X coordinate difference is determined in advance as Lr, the absolute value non-interference safety distance of the Y coordinate difference is determined in advance as Ls, the center non-interference safety distance of the two bolts is determined in advance as Lt, and the center non-interference safety distance of the two jackhammers is determined in advance as Lw; therefore, jackhammer A and jackhammer B must meet the following four safety conditions when removing the bolts at the same time: Lo≥Lr, Lp≥Ls, Lq≥Lt, Lu≥Lw; on the premise of meeting the above four safety conditions, see Figure 8 ; The first step, jackhammer A moves to the coordinates (xa1, ya1) to remove bolt A1, and jackhammer B moves to the coordinates (xb1, yb1) to remove bolt B1; The second step, jackhammer A moves to the coordinates (xa2, ya2) to remove bolt A2, and jackhammer B moves to the coordinates (xb2, yb2) to remove bolt B2; ...; The nth step, jackhammer A moves to the coordinates (xan, yan) to remove bolt An, and jackhammer B moves to the coordinates (xbn, ybn) to remove bolt Bn; until the disassembly is completed. During the disassembly process, when any non-interference safety condition is not met, the jackhammer stops moving and prompts the specific conditions that are not met.

[0070] See Figure 7, when the end plate is an odd end plate (with an odd number of bolts), A0 is taken as the first bolt; the first bolt A0 is the bolt that needs to be removed first, and the first bolt A0 is assigned to jackhammer A for removal. The bolts that need to be removed by jackhammer A are A0, A1, A2,,, An, and the bolts that need to be removed by jackhammer B are B1, B2,,,, Bn; for an odd end plate, jackhammer A and jackhammer B need to meet the four non-interference safety conditions when removing the bolts at the same time. On the premise of meeting the four non-interference safety conditions, see Figure 8 ; The first step, the jackhammer A moves to the coordinates (xa0, ya0) to remove the bolt A0 alone, and the jackhammer B does not participate in the disassembly; the second step, the jackhammer A moves to the coordinates (xa1, ya1) to remove the bolt A1, and the jackhammer B moves to the coordinates (xb1, yb1) to remove the bolt B1; the third step, the jackhammer A moves to the coordinates (xa2, ya2) to remove the bolt A2, and the jackhammer B moves to the coordinates (xb2, yb2) to remove the bolt B2; ...; the n+1th step, the jackhammer A moves to the coordinates (xan, yan) to remove the bolt An, and the jackhammer B moves to the coordinates (xbn, ybn) to remove the bolt Bn; until the disassembly is completed. During the disassembly process, when any non-interference safety condition is not met, the jackhammer stops moving and prompts the specific conditions that are not met.

[0071] The method provided by the present application realizes the rapid disassembly of multiple bolts by disassembling the end plate bolts simultaneously with double air cannons, thereby achieving the effect of saving time and improving the disassembly rate. Assuming that the number of bolts is m (m≥2), the disassembly cycle of each bolt is t seconds; if m is an even number, the time for disassembly of a single air cannon is m*t seconds, and the time for disassembly of a double air cannon is m / 2*t seconds, m*tm / 2*t=m / 2*t, which can save m / 2*t seconds; if m is an odd number, the time for disassembly of a single air cannon is m*t seconds, and the time for disassembly of a double air cannon is (m-1) / 2*t+t seconds, m*t-[(m-1) / 2*t+t]=(m-1) / 2*t seconds; which can save (m-1) / 2*t seconds.

[0072] It can be understood that the method provided in the present application for improving the efficiency of removing end plate bolts based on double jackhammers does not limit the end plate to a circular end plate. Any end plate with multiple bolts can be removed under the premise of meeting the four non-interference safety conditions.

[0073] It can be understood that the method for improving the efficiency of removing end plate bolts based on double pneumatic cannons provided in the embodiment of the present application depends on the software and hardware systems for implementation. The present application also provides a system for improving the efficiency of removing end plate bolts based on double pneumatic cannons, which is used to execute the aforementioned method for improving the efficiency of removing end plate bolts based on double pneumatic cannons. At the same time, a non-transitory computer-readable storage medium is also provided, including a memory of computer program instructions. The above-mentioned computer program instructions can be executed by the processing component of the hardware system when running the aforementioned method for improving the efficiency of removing end plate bolts based on double pneumatic cannons.

[0074] The above is only a preferred embodiment of the present application, and is not any formal or substantial limitation to the present application. It should be pointed out that ordinary technicians in this technical field can make several improvements and supplements without departing from the present application, and these improvements and supplements should also be regarded as the protection scope of the present application. Any technician familiar with this profession, without departing from the content and scope of the present application, can make some changes, modifications and evolutions of the technical content disclosed above, which are equivalent embodiments of the present application; at the same time, any changes, modifications and evolutions of any equivalent changes made to the above-mentioned implementation methods based on the substantial technology of the present application are still within the scope of the technical solution of the present application.

Claims

1. A method for improving the efficiency of removing end plate bolts based on double air cannons, characterized in that: The double jackhammers include jackhammer A and jackhammer B, which move independently in the end plate plane for removing the end plate bolts. An XoY coordinate system is established with the end plate plane. The position of jackhammer A is recorded as (xa, ya), and the position of jackhammer B is recorded as (xb, yb). The specific steps of the method include: S1, dividing the bolts on the end plate into a first bolt group close to the side of the wind cannon A and a second bolt group close to the side of the wind cannon B; S2, the bolts on the end plate are odd or even, and the number of bolts in the first bolt group and the number of bolts in the second bolt group are divided into the same or the difference is one. If the difference is one, use any air gun to remove the extra bolt first so that the number of bolts in the first bolt group is the same as the number of bolts in the second bolt group; S3, numbering the bolts of the first bolt group in clockwise order as bolts A1, A2...Ai...An, and numbering the bolts of the second bolt group in clockwise order as bolts B1, B2...Bi...Bn, forming a corresponding relationship of A1 to B1, A2 to B2, Ai to Bi, and An to Bn; S4. Establish non-interference safety conditions; The non-interference safety distance includes: the absolute value non-interference safety distance of the X coordinate difference is Lr, the absolute value non-interference safety distance of the Y coordinate difference is Ls, the center non-interference safety distance of the two bolts is Lt, and the center non-interference safety distance of the two air guns is Lw; Calculate the coordinate distance between bolt Ai coordinates (xai, yai) and bolt Bi coordinates (xbi, ybi), including: X coordinate difference absolute value Lo = |(xai-xbi) |, Y coordinate difference absolute value Lp = |(yai-ybi) |, the center distance between the two bolts Lq = √[(xai-xbi)2+(yai-ybi)2], the center distance between the two blast holes Lu = √[(xa-xb)2+(ya-yb)2]; The non-interference safety conditions include four: Condition 1. Lo≥Lr; Condition 2: Lp≥Ls; Condition 3. Lq≥Lt; Condition 4. Lu≥Lw; S5, jackhammer A and jackhammer B respectively and synchronously remove bolts A1-B1, A2-B2...Ai-Bi...An-Bn in sequence, and before removing each pair of bolts, determine the non-interference safety condition; If the non-interference safety conditions are met, disassembly is performed; If the non-interference safety conditions are not met, disassembly will be stopped and a prompt will be given.

2. A method for improving the efficiency of removing end plate bolts based on double air cannons according to claim 1, characterized in that: The pneumatic cannon A is arranged on a two-dimensional mobile device composed of a first vertical Y-direction moving mechanism and a first horizontal X-direction moving mechanism, and the pneumatic cannon B is arranged on a two-dimensional mobile device composed of a second vertical Y-direction moving mechanism and a second horizontal X-direction moving mechanism. The first horizontal X-direction moving mechanism and the second horizontal X-direction moving mechanism share the same set of slide rails, the first vertical Y-direction moving mechanism and the second vertical Y-direction moving mechanism are parallel, the pneumatic cannon A and the pneumatic cannon B are both perpendicular to the end plate plane, the pneumatic cannon A and the pneumatic cannon B move independently parallel to the end plate plane, and the pneumatic cannons are driven to the target bolt position by the corresponding moving mechanism for removing the end plate bolts.

3. The method for improving the efficiency of removing end plate bolts based on double air cannons according to claim 1 is characterized in that: The bolts are evenly distributed along the circumference of the end plate, and the boundary between the first bolt group and the second bolt group is close to the positions of 0° and 180° of the circumference.

4. The method for improving the efficiency of removing end plate bolts based on double air cannons according to claim 3 is characterized in that: Step S1: The process of dividing the bolt groups includes: If the number of bolts is an odd number, define a first bolt and take the bolt closest to 0° of the circumference as the first bolt.

5. The method for improving the efficiency of removing end plate bolts based on double air cannons according to claim 4 is characterized in that: The first bolt is recorded as A0, and the first bolt A0 is the bolt that needs to be removed separately first, and is assigned to the air cannon A for removal first. The remaining bolts are divided into the first bolt group and the second bolt group with the same number, which are bolts A1, A2...Ai...An, bolts B1, B2...Bi...Bn in clockwise order.

6. The method for improving the efficiency of removing end plate bolts based on double air cannons according to claim 3 is characterized in that: Step S1: The process of dividing the bolt groups includes: If the number of bolts is an even number, define a first bolt, and take the bolt closest to 0° of the end plate circumference between 0°-90° as the first bolt.

7. The method for improving the efficiency of removing end plate bolts based on double air cannons according to claim 6 is characterized in that: The first bolt is denoted as A1, and all bolts are divided into a first bolt group and a second bolt group of equal number, which are bolts A1, A2...Ai...An, bolts B1, B2...Bi...Bn in clockwise order.

8. The method for improving the efficiency of removing end plate bolts based on double air cannons according to claim 1 is characterized in that: The prompt in step S5 includes sound and light prompts.

9. A system based on double air cannons to improve the efficiency of removing end plate bolts, characterized in that: Used to implement the method for improving the efficiency of removing end plate bolts based on double jackhammers as described in any one of claims 1-8.

10. A non-transitory computer-readable storage medium, characterized in that: The storage is provided with computer program instructions, and the computer program instructions are configured to execute the method for improving the efficiency of removing end plate bolts based on double jackhammers as described in any one of claims 1 to 8 when running.

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