Automatic bolt dismounting equipment

Abstract

The utility model relates to automatic bolt dismounting equipment which comprises a base, a movable base and a dismounting mechanism, the base is provided with a bearing mechanism used for bearing a workpiece, the movable base is arranged on the base in a sliding mode and can move relative to the base in the first horizontal direction so as to be close to or away from the bearing mechanism, and the dismounting mechanism is arranged on the movable base and can move relative to the base in the first horizontal direction. The dismounting mechanism comprises a pneumatic hammer, the pneumatic hammer can move in the first horizontal direction relative to the movable base so as to act on a bolt on a workpiece and dismount the bolt, and therefore compared with a conventional mode that the bolt is dismounted by manually holding the pneumatic hammer, the whole process is automatic dismounting, and the dismounting efficiency is improved. And therefore, the labor intensity can be relieved, the dismounting efficiency is improved, and the production efficiency of the whole tubular pile production line can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of concrete pipe pile production equipment, and particularly to an automatic bolt disassembly device. Background Art

[0002] With the rapid development of China's economy, pipe piles are required for the foundation of railways, highways, bridge buildings, etc., and the demand for pipe piles has increased significantly. During the production process of pipe piles, a head plate and a tail plate are respectively installed at both ends of the pipe pile. After the pipe pile is cured in the curing pond and taken out of the pond, these head plates and tail plates need to be disassembled and recycled. The above-mentioned head plate is fixed to the end plate of the pipe pile end face through external hexagon bolts. Therefore, during the disassembly process, these external hexagon bolts need to be disassembled first.

[0003] However, in the current conventional pipe pile production process, the disassembly of the bolts of the head plate and tail plate of the pipe pile is still carried out manually with a handheld pneumatic drill, which has many problems, such as high labor intensity, low work efficiency, and long disassembly time. When the disassembly speed cannot keep up during the production peak period, it is easy to affect the production rhythm of the assembly line operation, resulting in a reduction in the production speed of the entire pipe pile production line. Summary of the Utility Model

[0004] Based on this, in view of the problems of high labor intensity and low work efficiency when using a handheld pneumatic drill to disassemble the bolts of the head plate and tail plate in the existing conventional pipe pile production process, it is necessary to provide an automatic bolt disassembly device that can solve the above problems.

[0005] According to one aspect of the present application, an automatic bolt disassembly device is provided, including:

[0006] A base, on which a loading mechanism for loading workpieces is provided;

[0007] A moving base, slidably arranged on the base, and the moving base can move relative to the base along a first horizontal direction to approach or move away from the loading mechanism;

[0008] A disassembly mechanism, arranged on the moving base, and the disassembly mechanism includes a pneumatic drill, and the pneumatic drill can move relative to the moving base along the first horizontal direction so as to act on the bolts on the workpiece and disassemble the bolts.

[0009] In one embodiment, the disassembly mechanism further includes a column and a transfer plate. The column is installed on the moving base, the transfer plate is arranged on the column in a liftable manner, and the pneumatic drill is slidably arranged on the transfer plate along the first horizontal direction.

[0010] In one embodiment, there are two disassembly mechanisms, and the two disassembly mechanisms are slidably arranged on the moving base at intervals and symmetrically along a second horizontal direction perpendicular to the first horizontal direction, so that the two disassembly mechanisms can approach or move away from each other along the second horizontal direction.

[0011] In one embodiment, the bolt automatic disassembly device further includes a clamping mechanism, and the clamping mechanism is arranged on the moving base and located between the bearing mechanism and the disassembly mechanism; the clamping mechanism includes two jaws oppositely arranged in a second horizontal direction perpendicular to the first horizontal direction, and the jaws are used for clamping the connecting piece connected to the workpiece through the bolt and moving along the first horizontal direction after the air gun loosens the bolt from the workpiece, so as to disassemble the connecting piece and the bolt from the workpiece together.

[0012] In one embodiment, the clamping mechanism further includes:

[0013] A gantry, mounted on the moving base;

[0014] A bracket, liftably mounted on the gantry;

[0015] A connecting frame, slidably connected to the bracket along the first horizontal direction, and the two jaws are respectively slidably arranged on the connecting frame along the second horizontal direction, so that the two jaws can approach or move away from each other along the second horizontal direction.

[0016] In one embodiment, the moving base is provided with through holes penetrating through opposite sides of itself, and a conveyor belt extending along the first horizontal direction is arranged on the base, and the through holes are used for allowing the connecting piece and the bolt disassembled from the workpiece to pass through, so that the connecting piece and the bolt can fall onto the conveyor belt, and the conveyor belt is used for conveying the connecting piece and the bolt to a specified position.

[0017] In one embodiment, a sliding buffer is arranged at the edge of the through hole, the sliding buffer surrounds the through hole, and the side wall of the sliding buffer is inclined relative to the vertical direction.

[0018] In one embodiment, the bearing mechanism includes a bearing table, and the bearing table is liftably connected to the base so as to be able to move relative to the base in the vertical direction.

[0019] In one embodiment, two bearing rollers for bearing the workpiece are arranged on the bearing table, the two bearing rollers are arranged at intervals in a second horizontal direction perpendicular to the first horizontal direction, and each bearing roller can rotate around its own central axis.

[0020] In one embodiment, an identification mechanism is further provided on the mobile base. The identification mechanism is used to identify the position of the bolt on the workpiece, so that the pneumatic wrench can accurately locate the position of the bolt.

[0021] For the above bolt automatic disassembly device, by slidably arranging a mobile base on the base and arranging a disassembly mechanism on the mobile base, the disassembly mechanism can move relative to the base along the first horizontal direction together with the mobile base to approach or move away from the loading mechanism. And by enabling the pneumatic wrench of the disassembly mechanism to move along the first horizontal direction relative to the mobile base, when the loading mechanism carries a workpiece (such as a pipe pile), and when the disassembly mechanism approaches the loading mechanism, the pneumatic wrench can act on the bolt on the workpiece and disassemble the bolt. Compared with the conventional method of manually holding a pneumatic wrench to disassemble bolts, the whole process is automatic disassembly without manual intervention. Therefore, it can reduce the labor intensity, improve the disassembly efficiency, and is beneficial to improving the production efficiency of the whole pipe pile production line. Brief Description of the Drawings

[0022] Figure 1 Is an axonometric view of the bolt automatic disassembly device provided by an embodiment of the present application.

[0023] Figure 2 Is a front view of the bolt automatic disassembly device provided by an embodiment of the present application.

[0024] Figure 3 Is an axonometric view of the base in the bolt automatic disassembly device provided by an embodiment of the present application.

[0025] Figure 4 Is an axonometric view of the disassembly mechanism in the bolt automatic disassembly device provided by an embodiment of the present application.

[0026] Figure 5 Is an axonometric view of the clamping mechanism in the bolt automatic disassembly device provided by an embodiment of the present application.

[0027] Figure 6 Is an axonometric view of the loading mechanism in the bolt automatic disassembly device provided by an embodiment of the present application.

[0028] Description of the Reference Numerals:

[0029] 10. Automatic bolt disassembly equipment; 100. Base; 101. Rack; 102. Linear guide; 103. Conveyor belt; 200. Moving base; 201. Through hole; 202. Sliding buffer; 300. Disassembly mechanism; 310. Pneumatic wrench; 320. Column; 330. Adapter plate; 400. Clamping mechanism; 410. Claw; 420. Gantry; 430. Bracket; 440. Connecting frame; 500. Carrying mechanism; 510. Carrying platform; 520. Booster cylinder; 530. Carrying roller; 600. Identification mechanism. Detailed implementation manners

[0030] To make the above objects, features, and advantages of the present application more apparent and understandable, the following provides a detailed description of the specific implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0031] In the description of the present application, it should be understood that if such terms as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0032] In addition, if such terms as "first" and "second" appear, these terms are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0033] In this application, unless otherwise clearly specified and defined, if terms such as "installed", "connected", "linked", "fixed", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] In this application, unless otherwise clearly specified and defined, if there is a description such as a first feature being "on" or "under" a second feature, its meaning can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. The first feature being "under", "beneath", and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] It should be noted that if an element is referred to as "fixed to" or "disposed on" another component, it can be directly on the other component or there can also be an intermediate component. If an element is considered to be "connected" to another element, it can be directly connected to the other component or there may be an intermediate component at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right", and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0036] As described in the background art, in the current conventional production process of pipe piles, the disassembly of the bolts of the head plate and tail plate of the pipe pile is still manually operated with a handheld pneumatic wrench for disassembly. Therefore, there will be many problems, such as high labor intensity, low work efficiency, and long disassembly time. When the disassembly speed cannot keep up during the production peak period, it is easy to affect the production rhythm of the assembly line operation, resulting in a reduction in the production speed of the entire pipe pile production line.

[0037] Therefore, this application provides an automatic bolt disassembly device for automatically disassembling the bolts on a workpiece, in order to hopefully reduce the labor intensity and improve the disassembly efficiency.

[0038] Taking the workpiece as a pipe pile as an example, and taking the bolt automatic disassembly device for disassembling the bolts connecting the pipe pile and the head plate or tail plate of the pipe pile (hereinafter referred to as the head and tail plates) as an example, the structure of the bolt automatic disassembly device in the present application will be described. It can be understood that in other embodiments, the bolt automatic disassembly device of the present application is not limited to only being used to disassemble the bolts connecting the pipe pile and the head and tail plates of the pipe pile, and can also be used to disassemble the bolts on any workpiece, which is not limited herein.

[0039] Refer to Figure 1 and Figure 2 , Figure 1 and Figure 2 FIGS. and show a schematic structural diagram of a bolt automatic disassembly device 10 in an embodiment of the present application. The bolt automatic disassembly device 10 provided in an embodiment of the present application includes a base 100, a moving base 200, and a disassembly mechanism 300. Among them, the base 100 is provided with a loading mechanism 500 for loading the pipe pile. The moving base 200 is slidably arranged on the base 100. The moving base 200 can move relative to the base 100 along a first horizontal direction (i.e., the X direction shown in the figure) to approach or move away from the loading mechanism 500. The disassembly mechanism 300 is fixedly arranged on the moving base 200 and is spaced apart from the loading mechanism 500 in the first horizontal direction. The disassembly mechanism 300 can be controlled to move relative to the base 100 together with the moving base 200 when the moving base 200 moves, so as to act on the bolts connecting the pipe pile and the head and tail plates on the pipe pile and disassemble the bolts when the loading mechanism 500 is loading the pipe pile.

[0040] In one embodiment, as shown in conjunction with Figure 1 and Figure 3 , the moving base 200 realizes relative movement with respect to the base 100 through the meshing of a gear and a rack. Specifically, a rack 101 is installed on the base 100, and a gear (not shown in the figure) meshing with the rack 101 is installed at the bottom of the moving base 200. The gear is connected to a driving source such as a motor. Driven by the motor, the gear can rotate around its own central axis, so as to drive the moving base 200 to move relative to the base 100 along the rack 101. And a linear guide rail 102 is also provided on the base 100, and a slider (not shown in the figure) is provided at the bottom of the moving base 200. By sliding the slider on the linear guide rail 102, the purpose of the stable movement of the moving base 200 relative to the base 100 is achieved.

[0041] It should be noted that the relative movement between the mobile base 200 and the base 100 is not limited to being realized only by the meshing drive of the gear and the rack 101. When relative movement occurs between other mutually sliding-connected components mentioned below, it is not limited to being realized by the meshing drive of the gear and the rack 101 either, and no limitation is made here. And other mutually sliding-connected components mentioned below can all be slidably connected through a linear guide pair, which will not be elaborated below.

[0042] Referring to Figure 4 , Figure 4 FIG. shows a schematic structural view of the disassembly mechanism 300. In one embodiment, the disassembly mechanism 300 includes a pneumatic wrench 310, which can move relative to the mobile base 200 alone along the first horizontal direction so as to be used to loosen and disassemble bolts when the disassembly mechanism 300 approaches the bearing mechanism 500. Further, the disassembly mechanism 300 further includes a column 320 and an adapter plate 330. The column 320 is fixedly installed on the mobile base 200, the adapter plate 330 is arranged on the column 320 in a liftable manner, and the pneumatic wrench 310 is slidably arranged on the adapter plate 330 along the first horizontal direction, so that the operator can adjust the position of the pneumatic wrench 310 according to the diameter and length dimensions of the pipe pile to realize the lifting and movement of the pneumatic wrench 310 along the first horizontal direction.

[0043] In a preferred embodiment, there are two disassembly mechanisms 300, and the two disassembly mechanisms 300 are slidably arranged on the mobile base 200 at intervals and symmetrically along the second horizontal direction (the Y direction shown in the figure) perpendicular to the first horizontal direction, so that the two disassembly mechanisms 300 can approach or move away from each other along the second horizontal direction, so that the disassembly mechanism 300 can be adapted to pipe piles of different model sizes, and thus the bolts on pipe piles of different model sizes can be disassembled.

[0044] Further, referring to Figure 1 and Figure 2 , the bolt automatic disassembly device 10 further includes a clamping mechanism 400. The clamping mechanism 400 is arranged on the mobile base 200 and is located between the bearing mechanism 500 and the disassembly mechanism 300 in the first horizontal direction. The clamping mechanism 400 can also move along the first horizontal direction together with the mobile base 200 when the mobile base 200 moves relative to the base 100. The purpose of setting the clamping mechanism 400 is to disassemble the bolt and the head and tail plates connected to the pipe pile through the bolt from the pipe pile together after the pneumatic wrench 310 loosens the bolt from the pipe pile, so as to achieve a higher degree of automation, reduce manual operation, and avoid manual disassembly.

[0045] Specifically, in terms of the structure of the clamping mechanism 400, referring to Figure 5, the clamping mechanism 400 includes two jaws 410 oppositely arranged in the second horizontal direction. The two jaws 410 can be controllably moved closer to or away from each other under the drive of a drive source such as a motor or a cylinder, so that after the pneumatic wrench 310 loosens the bolt from the pipe pile, it can hold the head and tail plate with the bolt and move in the first horizontal direction away from the bearing mechanism 500 to disassemble the head and tail plate and the bolt together from the pipe pile.

[0046] More specifically, the clamping mechanism 400 further includes a gantry 420, a bracket 430 and a connecting frame 440. The gantry 420 is fixedly installed on the moving base 200, the bracket 430 is installed on the gantry 420 in a liftable manner, the connecting frame 440 is slidably connected to the bracket 430 in the first horizontal direction, and the two jaws 410 are also slidably arranged on the connecting frame 440 in the second horizontal direction respectively. The bracket 430 and the connecting frame 440 are also respectively connected to a drive source such as a motor, so that the bracket 430, the connecting frame 440 and the jaws 410 can be controllably lifted relative to the gantry 420 together, the connecting frame 440 and the jaws 410 can be controllably telescoped in the first horizontal direction together, and the two jaws 410 can be controllably moved closer to or away from each other in the second horizontal direction.

[0047] It can be understood that the clamping mechanism 400 is not limited to the structure described in the above embodiment, and the jaws 410 can also be installed on a robotic arm to be able to move in three-dimensional space, so as to be able to hold the head and tail plate and disassemble it from the pipe pile.

[0048] Furthermore, in order to enable the pneumatic wrench 310 of the disassembly mechanism 300 to accurately locate the bolt and accurately move to the position where the bolt is located before disassembling the bolt, an identification mechanism 600 is further provided on the moving base 200. The identification mechanism 600 is used to identify the position of the bolt on the pipe pile so that the pneumatic wrench 310 can accurately locate the position where the bolt is located. It can be understood that the identification mechanism 600 can be a vision camera, a sensor, etc., which is not limited herein.

[0049] It should be noted that since the pipe piles have different models, the diameters of different models of pipe piles are also different. In order to enable the identification mechanism 600 to identify the position of the screw on different models of pipe piles when they are carried on the bearing mechanism 500, optionally, refer to Figure 6, the bearing mechanism 500 includes a bearing platform 510 and a boosting cylinder 520. The bearing platform 510 is arranged on the base 100 in a liftable manner through the boosting cylinder 520 so as to be able to move relative to the base 100 in the vertical direction (the Z direction shown in the figure), enabling the positioning of the pipe pile and ensuring that the position of the pipe pile relative to the equipment main body remains unchanged during the disassembly process. Whether the diameter of the pipe pile is larger or smaller, the identification or photographing position of the identification mechanism 600 is fixed, so that the identification range of the identification mechanism can be compatible with various diameters of existing pipe piles. Of course, it can also be that the identification mechanism 600 is arranged on the moving base 200 in a liftable manner, and there is no special limitation here.

[0050] In a preferred embodiment, two bearing rollers 530 spaced apart in the second horizontal direction are provided on the bearing platform 510. The two bearing rollers 530 are used to jointly bear the pipe pile, and each bearing roller 530 can rotate around its own central axis. When the pipe pile is placed obliquely on the two bearing rollers 530 (that is, when the central axis of the pipe pile is not parallel to the first horizontal direction), the pipe pile can be automatically corrected, that is, the central axis of the pipe pile can be corrected to be parallel to the first horizontal direction, so that the pneumatic wrench 310 can more easily clamp the bolt to perform the loosening action, and the clamping head can more easily clamp the head and tail plates to disassemble the head and tail plates and the bolt together.

[0051] After the bolt and the head and tail plates are disassembled together, in order to be able to automatically convey the disassembled head and tail plates and the bolt to the downstream station together to be automatically conveyed to the specified position so that the head and tail plates and the bolt can be recycled, on the basis of the above embodiment, refer to Figure 1 and Figure 3 , the moving base 200 is provided with a through hole 201 penetrating through its opposite sides. The base 100 is provided with a conveyor belt 103 extending in the first horizontal direction. The size of the through hole 201 is much larger than the size of the head and tail plates, and it is used for the head and tail plates and the bolt disassembled from the pipe pile to pass through, so that the head and tail plates and the bolt can fall onto the conveyor belt 103, and thus can be conveyed by the conveyor belt 103 to the specified position to be recycled again.

[0052] In addition, in order to enable the disassembled head and tail plates and the bolt to smoothly pass through the through hole 201 and fall onto the conveyor belt 103, please continue to refer to Figure 1 and Figure 3As shown, a sliding buffer member 202 is provided at the edge of the through hole 201. The sliding buffer member 202 is similar to a fence, which surrounds the through hole 201, and the side wall of the sliding buffer member 202 is inclined relative to the vertical direction. In this way, under the guidance of the inclined side wall of the sliding buffer member 202, the removed head and tail plates and screws can smoothly pass through the through hole 201 and slide onto the conveyor belt 103, avoiding the removed head and tail plates and screws from scattering on the moving base 200 because they cannot smoothly pass through the through hole 201.

[0053] It can be seen from this that for the bolt automatic disassembly device provided in this application, all actions are automatically completed and no manual intervention is required throughout the process. Therefore, compared with the conventional method of manually holding an air gun to disassemble bolts, it can reduce the labor intensity, improve the efficiency of bolt disassembly, and is beneficial to the improvement of the production efficiency of the entire pipe pile production line.

[0054] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0055] The above-described embodiments only represent several implementation manners of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application patent shall be subject to the appended claims.

Claims

1. An automatic bolt removal device, characterized in that: include; A base, wherein the base has a bearing mechanism for bearing a workpiece; A movable base, slidably disposed on the base, and capable of moving relative to the base along a first horizontal direction to approach or move away from the bearing mechanism; The disassembly mechanism is arranged on the mobile base, and the disassembly mechanism includes a pneumatic gun, and the pneumatic gun can move relative to the mobile base along the first horizontal direction so as to act on the bolts on the workpiece and disassemble the bolts.

2. The automatic bolt removal device according to claim 1, characterized in that: The disassembly mechanism also includes a column and an adapter plate, wherein the column is mounted on the movable base, the adapter plate is liftably disposed on the column, and the air cannon is slidably disposed on the adapter plate along the first horizontal direction.

3. The automatic bolt removal device according to claim 1, characterized in that: There are two disassembly mechanisms, and the two disassembly mechanisms are spaced apart and symmetrically slidably arranged on the movable base along a second horizontal direction perpendicular to the first horizontal direction, so that the two disassembly mechanisms can approach or move away from each other along the second horizontal direction.

4. The automatic bolt removal device according to claim 1, characterized in that: The automatic bolt disassembly equipment also includes a clamping mechanism, which is arranged on the mobile base and located between the supporting mechanism and the disassembly mechanism; the clamping mechanism includes two clamping jaws arranged opposite to each other in a second horizontal direction perpendicular to the first horizontal direction, and the clamping jaws are used to clamp the connecting piece connected to the workpiece by the bolt and move it along the first horizontal direction after the air cannon loosens the bolt from the workpiece, so as to remove the connecting piece and the bolt from the workpiece together.

5. The automatic bolt removal device according to claim 4, characterized in that: The clamping mechanism also includes: A gantry, mounted on the mobile base; A bracket, mounted on the door frame in a liftable manner; The connecting frame is slidably connected to the bracket along the first horizontal direction, and the two clamping claws are respectively slidably arranged on the connecting frame along the second horizontal direction, so that the two clamping claws can approach or move away from each other along the second horizontal direction.

6. The automatic bolt removal device according to claim 4, characterized in that: The movable base is provided with through holes penetrating two opposite sides thereof, and the base is provided with a conveyor belt extending along the first horizontal direction, and the through holes are used for passing the connecting parts and the bolts removed from the workpiece so that the connecting parts and the bolts can fall onto the conveyor belt, and the conveyor belt is used for transporting the connecting parts and the bolts to a specified position.

7. The automatic bolt removal device according to claim 6, characterized in that: A sliding buffer is provided at the edge of the through hole. The sliding buffer is arranged around the through hole, and the side wall of the sliding buffer is inclined relative to the vertical direction.

8. The automatic bolt removal device according to claim 1, characterized in that: The bearing mechanism comprises a bearing platform, and the bearing platform is connected to the base in a liftable manner so as to be movable in a vertical direction relative to the base.

9. The automatic bolt removal device according to claim 8, characterized in that: The bearing platform is provided with two bearing rollers for bearing the workpiece, the two bearing rollers are spaced apart in a second horizontal direction perpendicular to the first horizontal direction, and each of the bearing rollers can rotate around its own central axis.

10. The automatic bolt removal device according to claim 1, characterized in that: The mobile base is also provided with an identification mechanism, which is used to identify the position of the bolt on the workpiece so that the air gun can accurately locate the position of the bolt.

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