Alan Brookes and Robert Brazier, both in their 50s and from Bilston, are accused of robbing convenience stores in Wolverhampton and Tipton on Monday and being in possession of a firearm.
The men are alleged to have held up a One Stop Shop in Horseley Road, Tipton, just before 10am before hitting the Tesco Express in Hurst Road, Bilston, just after 7pm.
Robbers armed with a hammer and what is believed to have been a gun stole a bag of cash from the shop in Tipton and fled on a motorbike but were forced to throw away the bag after being chased by a member of the public.
Nine hours later two robbers threatened staff at the Tesco Express before stealing alcohol, cigarettes and cash.
Two men were arrested later that day and, after police were given extra time to question them, have both now been charged.
Alan Brookes, aged 50, of Chillington Place in Bilston, and Robert Brazier, aged 51, of Arlidge Close in Bilston, have both been charged with two counts of armed robbery and two counts of possession of a firearm.
Police vans were seen near Brazier's home in Arlidge Close on Tuesday morning.
Both men have been remanded in police custody and were due to appear at Dudley Magistrates Court on Friday morning.