A shell tightening apparatus

Abstract

The application provides a cannonball tightening device and relates to the field of machining manufacturing equipment, which comprises a rack, a fixing device and a tightening device; the fixing device is arranged on the rack and is used for fixing a cannonball body; the positioning device is arranged on the rack and is used for grabbing and fixing a tail wing; the tightening device comprises a clamping assembly and a driving assembly, both of which are arranged on the rack; the output end of the driving assembly is connected with the clamping assembly; the clamping assembly is used for clamping and fixing the tail wing; and the driving assembly is used for driving the clamping assembly to tighten the tail wing. The application solves the problems of low safety coefficient and low operation efficiency caused by manual participation in traditional mortar machining equipment and has the advantages of high automation degree, high safety coefficient and high machining efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical processing manufacturing equipment, in particular to a shell tightening device. BACKGROUND

[0002] There are multiple tightening operations in the mortar shell assembly process, such as tightening the tail wing with the shell body tail when installing the tail wing, tightening the press screw when installing the press screw, tightening the fuse with the shell head when installing the fuse, and tightening the primer plug with the tail wing end when installing the primer. At present, due to the lack of effective automatic tightening devices, the tightening operation basically relies on manual work. Due to the different skills of workers, the instability of manual operation and other factors, it is impossible to ensure that the tightening force applied each time is the same. If the tightening force is too small, the parts will not be installed in place, and if the tightening force is too large, it will cause the thread to slip and even cause internal ammunition to be squeezed and explode. It can be seen that the quality of the tightening operation has a great influence on the yield of the mortar. During the completion of the above assembly process, the tightening operation is frequent, and the tightening parameters required during the tightening process are different for different processes and installed parts. In addition, the manual tightening operation mode also has the problem of low efficiency. Therefore, it is urgent to develop an automatic intelligent tightening device to replace the manual operation mode by using automation technology. SUMMARY

[0003] Therefore, in order to solve the problems of the traditional mortar processing equipment that requires manual participation, low safety factor and low work efficiency, the present application provides a shell tightening device, and the specific technical solutions are as follows:

[0004] A shell tightening device, comprising:

[0005] a rack;

[0006] a fixing device, the fixing device is arranged on the rack, and the fixing device is used for fixing a shell body;

[0007] a positioning device, the positioning device is arranged on the rack, and the positioning device is used for grabbing and fixing a tail wing;

[0008] a tightening device, the tightening device comprises a clamping assembly and a driving assembly, both of which are arranged on the rack, the output end of the driving assembly is connected with the clamping assembly, the clamping assembly is used for clamping and fixing the tail wing, and the driving assembly is used for driving the clamping assembly to tighten the tail wing.

[0009] The shell tightening device has the fixing device, which is used for fixing the shell body when the tail wing is tightened, so as to solve the shell body sliding during the tail wing tightening process; the positioning device is arranged, and the tail wing to be installed is placed on the positioning device first, the positioning device clamps and fixes the tail wing to be installed, plays a positioning role on the tail wing, and enables the clamping assembly to accurately grasp the tail wing to be installed; the clamping assembly is arranged, the clamping assembly grasps the tail wing, pushes the tail wing into the shell body, and at the same time, the driving assembly is arranged to provide a rotating driving force for the clamping assembly to tighten the tail wing in the shell body, so that the tail wing of the shell is installed. The shell tightening device solves the problems of low safety factor and low operation efficiency of the traditional mortar processing equipment, and has the advantages of high automation degree, high safety factor and high processing efficiency.

[0010] Further, the clamping assembly comprises a base plate, a stop pin, a second clamping member, a fourth driving member, a driving member and a jaw member penetrating the base plate; the base plate is provided with a pin hole for inserting the stop pin; the second clamping member is arranged on the base plate, and is used for secondary tightening of the tail wing; the stop pin is arranged on the second clamping member and abuts against the base plate; the output end of the bearing seat is connected with the jaw member; the driving member and the fourth driving member are both arranged on the rack, the driving member is used for controlling the second clamping member to open, and the fourth driving member is used for controlling the stop pin to reset.

[0011] Further, the positioning device comprises a first clamping member for clamping and fixing the tail wing, a first driving member for controlling the clamping or loosening state of the first clamping member, and a second driving member for controlling the lifting of the first clamping member; the second driving member is arranged in a vertical direction on the rack, the first driving member is arranged on the output end of the second driving member, and the first clamping member is arranged on the output end of the first driving member.

[0012] Further, the driving assembly comprises a third driving member, a bearing seat and a torque sensor for monitoring the output torque of the third driving member, all of which are arranged on the rack; the output end of the third driving member is connected with the input end of the torque sensor, the output end of the torque sensor is connected with the input end of the bearing seat, and the output end of the bearing seat is connected with the clamping assembly.

[0013] Further, the stop pin comprises a first elastic member, a first pin and a shell with an open end and a cavity, the cavity is communicated with the opening, the elastic member is arranged in the cavity, the first pin is arranged in the cavity and connected with the elastic member, the shell is arranged on the second clamping member, and the opening surface of the shell abuts against the base plate.

[0014] Furthermore, the second clamping member includes a slide rail, a clamping arm assembly, and a second elastic element for controlling the clamping state of the clamping arm assembly; the clamping arm assembly is provided with a second pin for locking the tail fin, the slide rail is mounted on the base plate, the clamping arm assembly is sleeved on the slide rail and slidably connected to the slide rail; the second elastic element is mounted on the clamping arm assembly, the stop pin is mounted on the clamping arm assembly, and the driving member is used to control the opening state of the clamping arm assembly.

[0015] Furthermore, the gripper component includes grippers for gripping the tail fin's wings and a clutch for controlling the torque applied to the grippers. The clutch is disposed on the base plate, the output end of the bearing housing is connected to the input end of the clutch, and the output end of the clutch is connected to the grippers.

[0016] Furthermore, the frame includes a support member, a slider, and a fifth driving member for controlling the slider to move away from or closer to the positioning device; the support member is provided with a guide rail, the slider is sleeved on the guide rail and slidably connected to the guide rail; the fifth driving member and the second driving member are both installed on the support member, and the output end of the driving member is connected to the slider; the tightening device is installed on the slider.

[0017] Furthermore, there are two stop pins, both of which are installed on the second clamping member; there are two pin holes, both of which are formed on the base plate; and there are two fourth driving members, both of which are installed on the frame.

[0018] Furthermore, a pulley system is provided on the inner side of the first clamping member. Attached Figure Description

[0019] The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the drawings are not necessarily drawn to scale, but rather the emphasis is on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0020] Figure 1 This is one of the structural schematic diagrams of the shell tightening device according to an embodiment of the present invention;

[0021] Figure 2 This is a second schematic diagram of the structure of the shell tightening device according to an embodiment of the present invention;

[0022] Figure 3 This is the third structural schematic diagram of the shell tightening device according to an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the stop pin of the shell tightening device according to an embodiment of the present invention.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1-Support component; 11-Slider; 111-Guide rail; 12-Fifth drive component; 13-Tail fin; 131-Wing; 132-Fixing hole; 14-Projectile body; 21-Third drive component; 22-Torque sensor; 23-Bearing seat; 31-Second drive component; 32-First drive component; 33-First clamping component; 34-Pulley block; 41-Base plate; 42-Fourth drive component; 43-Drive component; 44-Slide rail; 45-Clamping arm assembly; 451-Second pin; 46-Second elastic element; 51-Clutch; 52-Gripper; 61-Housing shell; 62-First elastic element; 63-First pin. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to its embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of protection of the invention.

[0027] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0029] In this invention, the terms "first" and "second" do not represent a specific quantity or order, but are merely used to distinguish names.

[0030] like Figures 1-4 As shown, a shell tightening device according to one embodiment of the present invention includes a frame, a fixing device, and a tightening device; the fixing device is installed on the frame and is used to fix the shell body 14; the positioning device is installed on the frame and is used to grip and fix the tail fin 13; the tightening device includes a clamping component and a driving component both installed on the frame, the output end of the driving component is connected to the clamping component, the clamping component is used to clamp and fix the tail fin 13, and the driving component is used to drive the clamping component to tighten the tail fin 13.

[0031] The aforementioned shell tightening equipment, through the inclusion of a fixing device to secure the shell body 14 during the tightening of the tail fin 13, solves the problem of the shell body 14 slipping during the tightening process. A positioning device is also included, where the tail fin 13 to be installed is first placed. The positioning device clamps and fixes the tail fin 13, positioning it and allowing the clamping component to accurately grasp it. The clamping component then grips the tail fin 13 and pushes it into the shell body 14. Simultaneously, a drive component provides rotational force to the clamping component, tightening the tail fin 13 into the shell body 14, thus achieving the installation of the tail fin 13. This shell tightening equipment solves the problems of traditional mortar processing equipment requiring manual intervention, having a low safety factor, and low operating efficiency, offering advantages such as high automation, high safety, and high processing efficiency.

[0032] like Figures 1-3 As shown, in one embodiment, the fixing device is located on one side of the positioning device, and the tightening device is located on the other side of the positioning device.

[0033] like Figures 1-3As shown, in one embodiment, the clamping assembly includes a base plate 41, a stop pin, a second clamping member, a fourth driving member 42, a driving member 43, and a gripper member passing through the base plate 41; the base plate 41 has a pin hole for inserting the stop pin; the second clamping member is mounted on the base plate 41 and is used for secondary tightening of the tail fin 13; the stop pin is mounted on the second clamping member and abuts against the base plate 41; the output end of the bearing seat 23 is connected to the gripper member; the driving member 43 and the fourth driving member 42 are both mounted on the frame, the driving member 43 is used to control the opening of the second clamping member, and the fourth driving member 42 is used to control the resetting of the stop pin. Thus, by setting up a gripper component, the gripper component grasps the wing 131 of the tail fin 13, thereby fixing and clamping the tail fin 13. The driving force provided by the third driving component 21 drives the gripper component to rotate, thereby achieving the initial tightening of the tail fin 13. Since the wing 131 of the tail fin 13 will deform after being subjected to excessive tightening torque, the gripper component stops twisting after reaching a certain torque. By setting up a second clamping component mounted on the base plate 41, the rotation of the base plate 41 drives the second clamping component to rotate. When the second clamping component is engaged with the fixing hole 132 of the tail fin 13, the stop pin is simultaneously inserted into the pin hole to prevent secondary twisting. During the tightening process, the second clamping member disengages from the tail wing 13, and the stop pin reinforces the connection between the second clamping member and the base plate 41, thereby making the second clamping frame more secure in clamping the tail wing 13. Finally, the second clamping member continues to clamp the tail wing 13 and rotates it to achieve the final tightening of the tail wing 13. By setting the fourth driving member 42 and the driving member 43, when the tail wing 13 is tightened, the fourth driving member 42 will reset the stop pin, the driving member 43 will control the second clamping member to release the tail wing 13, the gripper member will exit the wing 131 of the tail wing 13, and the third driving member 21 will drive the second clamping member to reset in preparation for the next tightening operation of the tail wing 13.

[0034] Preferably, both the fourth driving component 42 and the driving component 43 are cylinders.

[0035] like Figures 1-3As shown, in one embodiment, the positioning device includes a first clamping member 33 for clamping and fixing the tail fin 13, a first driving member 32 for controlling the clamping or loosening state of the first clamping member 33, and a second driving member 31 for controlling the lifting and lowering of the first clamping member 33; the second driving member 31 is mounted vertically on the frame, the first driving member 32 is mounted at the output end of the second driving member 31, and the first clamping member 33 is mounted at the output end of the first driving member 32. Thus, by setting a first driving member 32 to drive the first clamping member 33 to clamp or release, the first clamping member 33 clamps and fixes the tail fin 13 to be installed, thereby achieving the positioning of the tail fin 13; by setting a second driving member 31, the second driving member 31 controls the first clamping member 33 to move vertically up and down, thereby achieving the lifting function of the first clamping member 33. When the second clamping member clamps the tail fin 13 to be installed and pushes the projectile body 14, the first driving member 32 controls the first clamping member 33 to release the tail fin 13, and the second driving member 31 controls the first clamping member 33 to descend, so as to avoid the first clamping member 33 from hindering the work of the second clamping member during the tightening process; when the tail fin 13 is tightened, the first clamping member 33 and the second clamping member are reset, waiting for the next tightening operation.

[0036] Preferably, both the first driving component 32 and the second driving component 31 are cylinders.

[0037] like Figures 1-3 As shown, in one embodiment, a pulley assembly 34 is provided on the inner side of the first clamping member 33. The pulley assembly 34 includes a first pulley and a second pulley, which are respectively installed on both sides inside the first clamping member 33. Thus, by providing the first and second pulleys, during the clamping process of the tail fin 13 being placed in the first clamping member 33, the tail fin 13 will abut against and slide against the first and second pulleys inside the first clamping member 33, preventing the tail fin 13 from directly contacting the first clamping member 33 and causing wear to the tail fin 13.

[0038] like Figures 1-3 As shown, in one embodiment, the drive assembly includes a third drive member 21, a bearing housing 23, and a torque sensor 22 for monitoring the output torque of the third drive member 21, all mounted on the frame. The output end of the third drive member 21 is connected to the input end of the torque sensor 22, the output end of the torque sensor 22 is connected to the input end of the bearing housing 23, and the output end of the bearing housing 23 is connected to the clamping assembly. Thus, by providing the third drive member 21, a rotational driving force is provided to the clamping assembly, driving the clamping assembly to rotate and thereby causing the tail fin 13 to rotate and achieve tightening. By providing the torque sensor 22, the output wheelbase of the third drive member 21 can be monitored in real time, thereby ensuring the stability of each tightening process of the tail fin 13.

[0039] Preferably, the torque sensor 22 is model HCNJ-F101. The torque sensor 22 is an existing product that can be directly purchased from the market, and will not be described in detail here.

[0040] Preferably, the third driving component 21 is a servo motor.

[0041] like Figure 1 As shown, in one embodiment, the gripper member is located within the second gripping member.

[0042] like Figures 1-3 As shown, in one embodiment, the second clamping member includes a slide rail 44, a clamping arm assembly 45, and a second elastic member 46 for controlling the clamping state of the clamping arm assembly 45; the clamping arm assembly 45 is provided with a second pin 451 for locking the tail wing 13, the slide rail 44 is mounted on the base plate 41, the clamping arm assembly 45 is sleeved on the slide rail 44 and slidably connected to the slide rail 44; the second elastic member 46 is mounted on the clamping arm assembly 45, a stop pin is mounted on the clamping arm assembly 45, and a driving member 43 is used to control the opening state of the clamping arm assembly 45. Thus, by setting the clamping arm assembly 45 to be sleeved on the slide rail 44, the second elastic element 46 provides an inward pulling force to the clamping arm assembly 45, and the driving component 43 provides an outward pulling force to the clamping arm assembly 45. The second elastic element 46 and the driving component 43 work together to allow the clamping arm assembly 45 to reciprocate along the slide rail 44, thereby realizing the function of clamping or releasing the clamping arm assembly 45. By setting the second pin 451 on the clamping arm assembly 45, during the process of clamping and tightening the tail wing 13, the second pin 451 will be inserted into the positioning hole of the tail wing 13, thereby aligning and fixing the tail wing 13.

[0043] Preferably, the second elastic element 46 is a spring.

[0044] like Figure 4As shown, in one embodiment, the stop pin includes a first elastic member 62, a first pin 63, and a housing 61 with an opening at one end and a cavity. The cavity communicates with the opening. The first elastic member 62 is installed in the cavity, the first pin 63 is installed in the cavity and connected to the first elastic member 62, and the housing 61 is installed on the clamping arm assembly 45. The opening surface of the housing 61 abuts against the base plate 41. Thus, by connecting the first elastic element 62 to the first pin 63, the first elastic element 62 provides elastic force to the first pin 63. When the second pin 451 has not yet locked the tail fin 13, the first elastic element 62 will provide thrust to the first pin 63, causing the first pin 63 to abut against the base plate 41. When the gripper component stops rotating, the base plate 41 rotates, causing the gripper arm assembly 45 to continue rotating until the second pin 451 is aligned with the fixing hole 132 of the tail fin 13. Then, the second elastic element 46 pulls the gripper arm assembly 45 to slide inward along the slide rail 44, thereby causing the second pin 451 to lock into the fixing hole 132 of the tail fin 13. At the same time, the second pin 451 will move with the sliding of the gripper arm assembly 45. When the second pin 451 is aligned with the fixing hole 132 of the tail fin 13, the first pin 63 is also aligned with the pin hole. The first elastic element 62 will cause the first pin 63 to be inserted into the pin hole, thereby preventing the gripper arm assembly from falling off during the tightening of the tail fin 13.

[0045] Preferably, the first elastic element 62 is a spring.

[0046] like Figures 1-3 As shown, in one embodiment, the gripper component includes a gripper 52 for gripping the wings 131 of the tail fin 13 and a clutch 51 for controlling the torque applied to the gripper 52. The clutch 51 passes through the base plate 41, the output end of the bearing seat 23 is connected to the input end of the clutch 51, and the output end of the clutch 51 is connected to the gripper 52. Thus, by setting the gripper 52, the wings 131 of the tail fin 13 are gripped and fixed. The third drive member 21 drives the gripper 52 to rotate, and the gripper 52 grips the wings 131 of the tail fin 13 and rotates them, thereby achieving initial tightening of the tail fin 13. Since the wings 131 of the tail fin 13 will deform after being subjected to excessive tightening torque, by setting the clutch 51, when the tightening torque provided by the third drive member 21 is too large, the clutch 51 will cause the gripper 52 to slip, so that the gripper 52 stops twisting the wings 131 of the tail fin 13, thus protecting the wings 131 of the tail fin 13.

[0047] Preferably, the clutch 51 is model KS6013-SCN85-25. The clutch 51 is an existing product that can be obtained directly from the market, and will not be described in detail here.

[0048] like Figures 1-3As shown, in one embodiment, the frame includes a support member 1, a slider 11, and a fifth drive member 12 for controlling the slider 11 to move away from or towards the positioning device. The support member 1 is provided with a guide rail 111, and the slider 11 is sleeved on the guide rail 111 and slidably connected to the guide rail 111. The fifth drive member 12 and the second drive member 31 are both mounted on the support member 1, and the output end of the drive member is connected to the slider 11. A tightening device is mounted on the slider 11. Thus, by setting the slider 11 to be sleeved on the guide rail 111 of the support member 1 and slidably connected to the guide rail 111, after the positioning device grabs and fixes the tail fin 13, the fifth drive member 12 drives the slider 11 to move closer to the positioning device, thereby driving the tightening device mounted on the slider 11 to move closer to the positioning device to clamp and fix the tail fin 13.

[0049] Preferably, the fifth driving component 12 is a cylinder.

[0050] like Figures 1-3 As shown, in one embodiment, there are two stop pins, both of which are installed on the second clamping member; there are two pin holes, both of which are opened on the base plate 41; and there are two fourth driving members 42, both of which are installed on the frame.

[0051] Working principle:

[0052] First, the tail fin 13 is placed in the positioning device, which clamps and fixes it, while the fixing device secures the projectile body 14. Second, the slider 11 moves the entire tightening device closer to the positioning device. The gripper 52 grabs the wing 131 of the tail fin 13, pushing it into the projectile body 14. The drive component 43 releases the clamping arm assembly 45, and the second elastic element 46 causes the clamping arm assembly 45 to clamp the tail fin 13. The second drive component 31 controls the first clamping component 33 to descend, and the third drive component 21 rotates, causing the gripper 52 and the clamping arm assembly 45 to rotate simultaneously for initial tightening. When the tightening torque reaches... Once the set value is reached, the clutch 51 slips and the gripper 52 stops rotating. Then, the base plate 41 drives the clamping arm assembly 45 to continue rotating. When the second pin 451 is inserted into the fixing hole 132, the first pin 63 also slides inward along the slide rail 44 and is inserted into the pin hole. The third drive member 21 drives the clamping arm assembly 45 to finally tighten the tail wing 13. Finally, when the tail wing 13 is tightened, the fourth drive member 42 resets the first pin 63, the drive member 43 pulls the clamping arm assembly 45 back to its original position, and the slider 11 moves the entire tightening device away from the positioning device to prepare for the next tightening operation.

[0053] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A cannonball tightening apparatus, characterized by, The application relates to a device for fixing a tail fin of a shell body, which comprises a rack, a fixing device arranged on the rack and used for fixing the shell body, a positioning device arranged on the rack and used for grabbing and fixing the tail fin, and a twisting device comprising a clamping assembly and a driving assembly, wherein the output end of the driving assembly is connected with the clamping assembly, the clamping assembly is used for clamping and fixing the tail fin, and the driving assembly is used for driving the clamping assembly to tighten the tail fin. The clamping assembly comprises a base plate, a stop pin, a second clamping member, a fourth driving element, a driving member and a clamping jaw member arranged on the base plate, the base plate is provided with a pin hole for inserting the stop pin, the second clamping member is arranged on the base plate and is used for secondary tightening of the tail fin, the stop pin is arranged on the second clamping member and abuts against the base plate, the output end of a bearing seat is connected with the clamping jaw member, the driving member and the fourth driving element are arranged on the rack, the driving member is used for controlling the second clamping member to open, and the fourth driving element is used for controlling the stop pin to reset. The driving assembly comprises a third driving element, a bearing seat and a torque sensor for monitoring the output torque of the third driving element, the output end of the third driving element is connected with the input end of the torque sensor, the output end of the torque sensor is connected with the input end of the bearing seat, and the output end of the bearing seat is connected with the clamping assembly. The second clamping member comprises a sliding rail, a clamping arm group and a second elastic element for controlling the clamping state of the clamping arm group, the clamping arm group is provided with a second pin for locking the tail fin, the sliding rail is arranged on the base plate, the clamping arm group is sleeved on the sliding rail and is in sliding connection with the sliding rail, the second elastic element is arranged on the clamping arm group, the stop pin is arranged on the clamping arm group, and the driving member is used for controlling the opening state of the clamping arm group. The driving force provided by the third driving element drives the clamping jaw member to rotate, thereby realizing primary tightening of the tail fin, when a certain torque is reached, the clamping jaw member stops rotating, the second clamping member arranged on the base plate is rotated by the rotation of the base plate, when the second clamping member is clamped on the fixing hole of the tail fin, the stop pin is simultaneously inserted into the pin hole, thereby preventing the second clamping member from being separated from the tail fin in the secondary tightening process, and finally realizing the final tightening of the tail fin. The positioning device comprises a first clamping member for clamping and fixing the tail fin, a first driving element for controlling the clamping or loosening state of the first clamping member and a second driving element for controlling the lifting of the first clamping member, the second driving element is arranged on the rack in a vertical direction, the first driving element is arranged on the output end of the second driving element, and the first clamping member is arranged on the output end of the first driving element. ​ ​ ​ 2. The shell tightening apparatus of claim 1, wherein, ​ 3. The shell tightening apparatus of claim 1, wherein, The stop pin comprises a first elastic member, a first pin and a shell with an open end and a cavity, the cavity is communicated with the opening, the elastic member is arranged in the cavity, the first pin is arranged in the cavity and connected with the elastic member, the shell is arranged on the second clamping member, and the opening surface of the shell is abutted with the substrate.

4. The shell tightening apparatus of claim 1, wherein, The clamping jaw member comprises a clamping jaw for grabbing the fin of the tail wing and a clutch for controlling the torque value applied to the clamping jaw, the clutch is arranged in the substrate, the output end of the bearing seat is connected with the input end of the clutch, and the output end of the clutch is connected with the clamping jaw.

5. The shell tightening apparatus of claim 2, wherein, The rack comprises a support, a sliding block and a fifth driving member for controlling the sliding block to be positioned away from or close to the positioning device; the support is provided with a guide rail, the sliding block is sleeved on the guide rail and is in sliding connection with the guide rail; the fifth driving member and the second driving member are both arranged on the support, and the output end of the driving member is connected with the sliding block; and the tightening device is arranged on the sliding block.

6. The shell tightening apparatus of claim 1, wherein, The number of the stop pins is two, and the two stop pins are both arranged on the second clamping member; the number of the pin holes is two, and the two pin holes are both arranged on the substrate; and the number of the fourth driving members is two, and the two fourth driving members are both arranged on the rack.

7. The shell tightening apparatus of claim 2, wherein, The inner side of the first clamping member is provided with a pulley block.

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