Method for improving efficiency of disassembling end plate bolt based on double air cannons

Abstract

The application discloses a method for improving the efficiency of disassembling end plate bolts based on double air cannons, and the double air cannons independently move in the end plate plane for disassembling end plate bolts, and the steps include: S1, bolts are divided into a first bolt group close to air cannon A and a second bolt group close to air cannon B; S2, disassembling redundant bolts makes the first bolt group and the second bolt group have the same number; S3, bolt numbering is sequentially performed in a clockwise order as bolt A1...Ai...An, bolt B1...Bi...Bn, and the correspondence of Ai and Bi is formed; S4, a non-interference safety condition is established; S5, the double air cannons synchronously disassemble the bolts A1-B1...Ai-Bi...An-Bn, and before disassembling each pair of bolts, the non-interference safety condition is judged; if the condition is met, disassembling is performed, and if the condition is not met, disassembling is stopped and a prompt is given. The method for improving the efficiency of disassembling end plate bolts based on double air cannons provided by the application calculates the target moving positions of the two air cannons according to the number and positions of the bolts, realizes fast and efficient disassembling under the premise that the two air cannons do not interfere with and collide with each other, and improves the disassembling efficiency.

Description

TECHNICAL FIELD

[0001] The application provides a method for improving the efficiency of disassembling end plate bolts based on double air cannons, and relates to the technical field of building engineering. BACKGROUND

[0002] For the assembly of the end plate and flange plate assembly of a pipe pile, bolts are generally locked. After the pipe pile is produced, the end plate bolts need to be disassembled. The commonly used bolt disassembly equipment of a single air cannon only has one air cannon for disassembling bolts. Due to the number and angle of the bolts on the end plate, each bolt needs a certain time to be disassembled. The bolt disassembly equipment adopts a disassembly mode of a single air cannon, and the disassembly time is relatively long and the disassembly efficiency is low.

[0003] If the number of air cannons of the bolt disassembly equipment is increased, the interference problem of the movement of multiple air cannons is prone to occur due to the close distance between the bolts on the end plate. SUMMARY

[0004] The technical problem to be solved by the application is the movement interference problem of multiple air cannons disassembling end plate bolts.

[0005] To solve the above technical problem, the technical scheme of the application provides a method for improving the efficiency of disassembling end plate bolts based on double air cannons, characterized in that the double air cannons include an air cannon A and an air cannon B, the air cannon A and the air cannon B independently move in the plane of the end plate for disassembling the end plate bolts, an XoY coordinate system is established in the plane of the end plate, the position of the air cannon A is recorded as (xa, ya), and the position of the air cannon B is recorded as (xb, yb); the specific steps of the method include:

[0006] S1, the bolts on the end plate are divided into a first bolt group close to the air cannon A and a second bolt group close to the air cannon B;

[0007] S2, the bolts on the end plate are odd or even, 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 a difference of one, if the difference is one, one more bolt is disassembled first using any air cannon so that the number of bolts in the first bolt group and the number of bolts in the second bolt group are the same;

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

[0009] S4, a non-interference safety condition is established;

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

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

[0012] Then the non-interference safety condition includes four:

[0013] Condition one, Lo≥Lr;

[0014] Condition two, Lp≥Ls;

[0015] Condition three, Lq≥Lt;

[0016] Condition four, Lu≥Lw;

[0017] S5, the air cannon A and the air cannon B are sequentially and synchronously disassembled with the bolt A1-B1, A2-B2...Ai-Bi...An-Bn, respectively, and before disassembling each pair of bolts, the non-interference safety condition is judged.

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

[0019] If the non-interference safety condition is not met, the disassembly is stopped and a prompt is given.

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

[0021] Preferably, the bolts are uniformly 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 position of 0° and 180° of the circumference.

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

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

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

[0025] Preferably, the step S1 of dividing the bolt group includes:

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

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

[0028] Preferably, the prompt in step S5 includes an audible and visual prompt.

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

[0030] The technical solution of the present application also provides a non-transient computer readable storage medium, which stores computer program instructions configured to execute the foregoing method for improving the efficiency of disassembling the end plate bolts based on double air cannons when running.

[0031] The method for improving the efficiency of disassembling the end plate bolts based on double air cannons provided by the present application calculates the target moving positions of the two air cannons according to the number and positions of the bolts, and realizes fast and efficient disassembly and improves the disassembly efficiency under the premise that the two air cannons do not interfere with each other. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The air cannon, end plate and bolt provided by the embodiment of the present application are shown in the schematic diagram.

[0033] Figure 2 The rectangular coordinate definition diagram of the air cannon mechanism provided by the embodiment of the present application is shown.

[0034] Figure 3 The rectangular coordinate definition diagram of the end plate provided by the embodiment of the present application is shown.

[0035] Figure 4The total number of bolt angle diagrams provided by the embodiments of the present application is odd;

[0036] Figure 5 The total number of bolt coordinate definition diagrams provided by the embodiments of the present application is even;

[0037] Figure 6 The total number of bolt coordinate definition diagrams provided by the embodiments of the present application is even;

[0038] Figure 7 The total number of bolt coordinate definition diagrams provided by the embodiments of the present application is odd;

[0039] Figure 8 The total number of bolt coordinate definition diagrams provided by the embodiments of the present application is even;

[0040] BRIEF DESCRIPTION OF DRAWINGS 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] In order to make the present application more apparent and easy to understand, various example embodiments will be introduced below. These examples are non-limiting, and it should be understood that they are used to illustrate more general aspects of the devices, systems, and methods. These embodiments can be changed in various ways, and can be replaced by equivalents without departing from the essential content and scope of the present application. In addition, various changes can be made to adapt to special circumstances, materials, substance components, processing types, processing actions or steps to adapt to the purpose, content or scope of the present application. All these changes will be within the scope of protection of the present application.

[0042] For any material, size, quantity introduced in the summary or detailed description, they will only be examples, and not limit the subject matter of the present application. Moreover, various implementations of the embodiments described herein will complement each other, rather than purely alternate, unless otherwise stated. In other words, implementations from one embodiment can be freely combined with implementations of other embodiments, as would be readily known by one of ordinary skill in the art, unless it is stated that the implementations are only for replacement.

[0043] In the description of the present application, it should be noted that the terms "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0044] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set", "connected" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] Embodiments

[0046] The embodiments of the present application provide a control method for disassembling end plate bolts by double air cannons, referring to Figure 1 、 Figure 2 and Figure 3 , the double air cannons include air cannon A1 and air cannon B2, the air cannon A is arranged on a two-dimensional moving device composed of a first vertical Y moving mechanism 3 and a first horizontal X moving mechanism 4, the air cannon B is arranged on a two-dimensional moving device composed of a second vertical Y moving mechanism 5 and a second horizontal X moving mechanism 6, the first horizontal X moving mechanism 4 and the second horizontal X moving mechanism 6 share the same set of slide rails, the first vertical Y moving mechanism 3 is parallel to the second vertical Y 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 independently move parallel to the end plate plane, and the air cannons are driven to the target bolt position by the moving mechanisms for disassembling the end plate bolts.

[0047] It can be understood that each moving mechanism and the air cannon are conventional devices for disassembling bolts, the air cannon is used for disassembling the target bolt, and the moving mechanism is used for driving the air cannon to the target bolt position, the present application does not involve the improvement of the two-dimensional moving device and the structure of the air cannon, by determining the target bolt positions of the air cannon A and the air cannon B, the corresponding moving mechanisms drive the air cannon A and the air cannon B to move to the target bolt positions to disassemble the bolts, which is easy to realize in the prior art, and the control method for disassembling end plate bolts by the double air cannons provided by the present application mainly determines the target bolts of the air cannon A and the air cannon B, avoids the interference problem in the moving process of the double air cannons, and improves the disassembling efficiency of the end plate bolts.

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

[0049] To avoid interference between the air gun A and the air gun B and improve the bolt removal efficiency, the method specifically comprises the following steps.

[0050] S1, the bolts on the end plate are divided into a first bolt group close to the air gun A and a second bolt group close to the air gun B. Based on the bolts on the end plate being uniformly distributed along the circumference, the boundary between the first bolt group and the second bolt group is close to the positions of 0° and 180° of the circumference.

[0051] S2, 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 a difference of 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 and the number of bolts in the second bolt group are the same.

[0052] S3, the bolts in the first bolt group are numbered in the clockwise order as A1, A2...Ai...An, and the bolts in the second bolt group are numbered in the clockwise order as B1, B2...Bi...Bn, forming a corresponding relationship of 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 the two ends of the circumference relative to the origin and are relatively far away.

[0053] S4, a non-interference safety condition is established.

[0054] The non-interference safety distance includes: the absolute value of the X coordinate difference non-interference safety distance is Lr, the absolute value of the Y coordinate difference non-interference safety distance is Ls, the center distance of the two bolts is Lt, and the center distance of the two air guns is Lw. The specific values of Lr, Ls, Lt, and Lw depend on the known conditions such as the shape and size of the bolt and the shape and size of the air gun. Lr, Ls, Lt, and Lw are determined by the technical personnel according to the actual situation and multiplied by a safety factor.

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

[0056] The non-interference safety condition includes four conditions:

[0057] Condition one, Lo≥Lr;

[0058] Condition two, Lp≥Ls;

[0059] Condition three, Lq≥Lt;

[0060] Condition four, Lu≥Lw;

[0061] S5, the air cannon A and the air cannon B are sequentially and synchronously disassembled with the bolts A1-B1, A2-B2...Ai-Bi...An-Bn, respectively, and before disassembling each pair of bolts, the non-interference safety condition is judged;

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

[0063] If the non-interference safety condition is not met, the disassembly is stopped and a prompt is given.

[0064] It can be understood that the method provided in the application usually needs to be controlled by a main control chip, a controller or other main control equipment to run a control program to control the related moving mechanism and the air cannon to be executed in actual execution; the implementation of the method related steps often needs to be realized by code, and based on the foregoing provided method technical solution, an automatic development personnel can develop a code corresponding to the control of the execution mechanism according to the specific execution mechanism; for example, the prompt in step S5 can be prompted in the software layer, or can be prompted by a buzzer, an alarm and the like.

[0065] In further embodiments, the process of step S1 of dividing the bolt group is as follows for the cases where the number of bolts is odd and even, respectively:

[0066] A first bolt is defined, and a bolt near 0° of the end plate is taken as the first bolt;

[0067] When the end plate is an odd end plate (having an odd number of bolts), there is a bolt with an angle of θ1 (the circumferential angle of the bolt is θ1) and a bolt with an angle of θ2 near 0° of the end plate, wherein θ2 is between 270° and 0°, and the value of θ1 and (360°-θ2) is compared, and the smaller value is taken as the first bolt of the odd end plate (i.e., the bolt closest to the circumferential 0°), as shown inFigure 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 near 0° and bolts with an angle of θ4, where θ3 is between 0° and 90°, and θ4 is between 270° and 0°, and the first bolt of the even end plate is taken as the angle between 0° and 90° (i.e. the bolt closest to the 0° of the circumference between 0°-90° of the circumference), see Figure 5 ;

[0069] See Figure 6 , when the end plate is an even end plate (with an even number of bolts), A1 is taken as the first bolt; where the bolts that need to be disassembled by air gun A are A1, A2, …, An, and the bolts that need to be disassembled by air gun B are B1, B2, …, Bn, where n is an integer greater than or equal to 1; according to the foregoing steps S4 and S5, the coordinate distance between bolt An (xan, yan) and bolt Bn (xbn, ybn) is calculated, which is the absolute value of the X coordinate difference Lo = |(xan-xbn)|, the absolute value of the Y coordinate difference Lp = |(yan-ybn)|, the center distance Lq = √[(xan-xbn)2+(yan-ybn)2] of the two bolts, and the center distance Lu = √[(xa-xb)2+(ya-yb)2] of the two air guns; the absolute value of the X coordinate difference is determined in advance as a safety distance Lr, the absolute value of the Y coordinate difference is determined in advance as a safety distance Ls, the center distance of the two bolts is determined in advance as a safety distance Lt, and the center distance of the two air guns is determined in advance as a safety distance Lw; therefore, the simultaneous disassembly of bolts by air gun A and air gun B needs to meet the following four safety conditions: Lo≥Lr, Lp≥Ls, Lq≥Lt, Lu≥Lw; under the premise of meeting the above four safety conditions, see Figure 8 ; first step, air gun A moves to coordinates (xa1, ya1) to disassemble bolt A1, and air gun B moves to coordinates (xb1, yb1) to disassemble bolt B1; second step, air gun A moves to coordinates (xa2, ya2) to disassemble bolt A2, and air gun B moves to coordinates (xb2, yb2) to disassemble bolt B2; …; n step, air gun A moves to coordinates (xan, yan) to disassemble bolt An, and air gun B moves to coordinates (xbn, ybn) to disassemble bolt Bn; until disassembly is complete. During disassembly, when any non-interference safety condition is not met, the air gun stops moving and prompts the specific condition that is not met.

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

[0071] The method provided in the present application realizes the rapid removal of multiple bolts by simultaneously removing the bolts of the end plate by the double air cannons, and achieves the effects of saving time and improving the removal rate. Assuming that the number of bolts is m (m≥2) and the removal period of each bolt is t seconds; if m is even, then the single air cannon removal takes m*t seconds, the double air cannon removal takes m / 2*t seconds, m*t-m / 2*t=m / 2*t, and the time length of m / 2*t seconds can be saved; if m is odd, then the single air cannon removal takes m*t seconds, the double air cannon removal takes (m-1) / 2*t+t seconds, m*t-[(m-1) / 2*t+t]=(m-1) / 2*t seconds; and the time length of (m-1) / 2*t seconds can be saved.

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

[0073] It can be understood that the method for improving the efficiency of removing the bolts of the end plate based on the double air cannons provided in the embodiments of the present application relies on a software and a hardware system, the present application also provides a system for improving the efficiency of removing the bolts of the end plate based on the double air cannons, which is used to execute the aforementioned method for improving the efficiency of removing the bolts of the end plate based on the double air cannons, and further provides a non-transitory computer readable storage medium including a memory of computer program instructions, which can be executed by a processing component of a hardware system to execute the aforementioned method for improving the efficiency of removing the bolts of the end plate based on the double air cannons.

[0074] The above merely provides the preferred embodiments of the present application, and is not intended to limit the present application in any form or in essence. It should be noted that those skilled in the art can make some improvements and supplements without departing from the present application, and these improvements and supplements should also be considered as the protection scope of the present application. For those skilled in the art, some slight changes, modifications and equivalent variations made by using the disclosed technical contents without departing from the content and scope of the present application are equivalent embodiments of the present application; meanwhile, any equivalent changes, modifications and variations made according to the essential technology of the present application to the above embodiments are still within the scope of the technical solutions of the present application.

Claims

1. A method for improving the efficiency of removing end plate bolts based on dual-pneumatic punches, characterized in that, The dual-pole air jetting system includes air jetting A and air jetting B. Air jetting A and air jetting B can move independently in the end plate plane for disassembling the end plate bolts. An XoY coordinate system is established with the end plate plane as the reference, where the position of air jetting A is denoted as (xa, ya) and the position of air jetting B is denoted as (xb, yb). The specific steps of the method include: S1. Divide the bolts on the end plate into a first bolt group near the side of the air gun A and a second bolt group near the side of the air gun B; 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 position of 0° and 180° of the circumference. S2. If the number of bolts on the end plate is odd or even, divide the number of bolts in the first bolt group and the number of bolts in the second bolt group into the same or different. If the difference is one, use any pneumatic wrench 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. The bolts in the first bolt group are numbered in clockwise order as bolts A1, A2...Ai...An. The bolts in the second bolt group are numbered in clockwise order as bolts B1, B2...Bi...Bn, forming a correspondence between A1 and B1, A2 and B2, Ai and Bi, and An and Bn. S4. Establish non-interference security conditions; The non-interference safety distances include: 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 center of the two bolts is Lt, and the non-interference safety distance of the center of the two air guns is Lw; Calculate the coordinate distance between bolt Ai coordinates (xai, yai) and bolt Bi coordinates (xbi, ybi), including: absolute value of X coordinate difference Lo = |(xai-xbi)|, absolute value of Y coordinate difference Lp = |(yai-ybi)|, center distance between the two bolts Lq = √[(xai-xbi)²+(yai-ybi)²], center distance between the two air guns Lu = √[(xa-xb)²+(ya-yb)²]; The non-interference security conditions include four: Condition 1. Lo≥Lr; Condition 2: Lp≥Ls; Condition 3. Lq≥Lt; Condition 4. Lu≥Lw; S5, Pneumatic cannon A and Pneumatic cannon B disassemble bolts A1-B1, A2-B2...Ai-Bi...An-Bn in sequence and simultaneously. Before disassembling each pair of bolts, a judgment is made on whether to interfere with the safety conditions. If the safety conditions are met, disassembly will be performed. If the non-interference safety conditions are not met, disassembly will be stopped and a warning will be issued.

2. The method for improving the efficiency of removing end plate bolts based on dual-pneumatic punches according to claim 1, characterized in that, The air cannon A is mounted on a two-dimensional mobile device consisting of a first vertical Y-axis moving mechanism and a first horizontal X-axis moving mechanism. The air cannon B is mounted on a two-dimensional mobile device consisting of a second vertical Y-axis moving mechanism and a second horizontal X-axis moving mechanism. The first horizontal X-axis moving mechanism and the second horizontal X-axis moving mechanism share the same set of slide rails. The first vertical Y-axis moving mechanism and the second vertical Y-axis moving mechanism are parallel. Both air cannon A and air cannon B are perpendicular to the end plate plane. Air cannon A and air cannon B move independently parallel to the end plate plane. The air cannons are driven to the target bolt position through the corresponding moving mechanism for disassembling the end plate bolts.

3. The method for improving the efficiency of removing end plate bolts based on dual-pneumatic punches according to claim 1, characterized in that, Step S1, the process of dividing the bolt groups, includes: If the number of bolts is odd, define a first bolt, and select the bolt closest to 0° on the circumference as the first bolt.

4. The method for improving the efficiency of removing end plate bolts based on dual-pneumatic punches according to claim 3, characterized in that, The first bolt is denoted as A0. The first bolt A0 is the bolt that needs to be removed first and is assigned to the air gun A for removal first. The remaining bolts are divided into a first bolt group and a second bolt group with the same number of bolts, in clockwise order as bolts A1, A2...Ai...An, and bolts B1, B2...Bi...Bn.

5. A method for improving the efficiency of removing end plate bolts based on dual-pneumatic punches according to claim 1, characterized in that, Step S1, the process of dividing the bolt groups, includes: If the number of bolts is even, define a first bolt, and select the bolt closest to 0° on the circumference of the end plate between 0° and 90° as the first bolt.

6. A method for improving the efficiency of removing end plate bolts based on dual-pneumatic punches according to claim 5, characterized in that, The first bolt is denoted as A1. All bolts are divided into a first bolt group and a second bolt group with the same number of bolts, in clockwise order as bolts A1, A2...Ai...An, and bolts B1, B2...Bi...Bn.

7. A method for improving the efficiency of removing end plate bolts based on dual-pneumatic punches according to claim 1, characterized in that, The prompts mentioned in step S5 include audio-visual prompts.

8. A system for improving the efficiency of removing end plate bolts based on dual-pneumatic punches, characterized in that, Used to perform the method for improving the efficiency of removing end plate bolts based on dual-pneumatic punches as described in any one of claims 1-7.

9. A non-transient computer-readable storage medium, characterized in that, The storage includes computer program instructions configured to execute, at runtime, the method for improving the efficiency of removing end plate bolts based on dual-pump jackhammers as described in any one of claims 1-7.

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