Welding equipment for fermentation tank body

Abstract

The invention relates to the technical field of tank body welding, and discloses fermentation tank body welding equipment which comprises a welding driving seat, a welding mechanical arm is installed on the side portion of the welding driving seat, and a seam pressing mechanism is assembled at the tail end of the welding mechanical arm; the seam pressing mechanism is composed of an arc-shaped tank pressing cover, a double-seam-pressing-wheel assembly and a tank pulling compensation assembly, two seam pressing wheels are rotationally and symmetrically arranged at the two ends of the arc face of the tank pressing cover respectively, the outer circumferential faces of the seam pressing wheels make rolling contact with the outer wall of the fermentation tank body, and deformation sensors are distributed on the outer surfaces of the seam pressing wheels in an array mode; the detection module is used for detecting deformation displacement of a tank welding area in real time; through the synergistic effect of the seam pressing mechanism and the can pulling compensation assembly, the welding precision and the operation stability are remarkably improved, the double seam pressing wheels are symmetrically arranged at the two ends of the arc-shaped can pressing cover, the outer circumferential faces of the double seam pressing wheels make rolling contact with a can body, welding pressure can be evenly dispersed, and can body deformation caused by local stress concentration is avoided.

Description

Technical Field

[0001] The invention relates to the field of tank body welding, and more specifically, to a fermentation tank body welding device. Background Art

[0002] In the fields of bioengineering, food fermentation and chemical industry, large fermentation tanks are core production equipment, and their manufacturing quality directly affects their sealing, pressure resistance and service life.

[0003] During the welding process, due to the deadweight, thermal deformation and assembly precision of the fermentation tank, the weld gap is easily unstable and cannot compensate for deformation in real time, resulting in a weld gap fluctuation range of more than 0.5mm, which seriously reduces the welding quality and causes problems such as uneven welds, incomplete penetration, and undercuts, affecting the sealing and overall performance of the tank. To this end, we propose a fermentation tank welding device. Summary of the invention

[0004] The invention provides a fermentation tank welding device, which solves the technical problems in the related art that the fluctuation range of the weld gap can reach more than 0.5 mm, which seriously reduces the welding quality and causes uneven welds, incomplete penetration and undercut.

[0005] The present invention provides a fermentation tank welding device, comprising: a welding drive seat, a welding mechanical arm is installed on the side of the welding drive seat, and a seam pressing mechanism is installed at the end of the welding mechanical arm;

[0006] The seam pressing mechanism is composed of an arc-shaped tank pressing cover, a double seam pressing wheel assembly and a tank pulling compensation assembly, wherein the two seam pressing wheels are rotationally symmetrically arranged at the two ends of the arc surface of the tank pressing cover, and the outer circumference of the seam pressing wheel is in rolling contact with the outer wall of the fermentation tank body. The outer surface of the seam pressing wheel is arrayed with deformation sensors for real-time detection of the deformation displacement of the tank body welding area;

[0007] The can pull compensation assembly includes a slotting arm that penetrates the curved surface of the pressure can cover, the end of which extends to the inside of the joint between the two sections of the can body, and the two ends of the slotting arm are hinged with expandable slot pushing plates on both sides, and the inner sides of the two side slot pushing plates are respectively embedded with independently controlled hydraulic expansion bags, which are connected to the external pressure regulating device through pipelines;

[0008] When the seam pressing wheel produces displacement deviation as the tank body rotates, the deformation sensor feeds back the deformation signal to the control system. By adjusting the expansion pressure of the hydraulic expansion bags on both sides respectively, the seam pushing plate is driven to perform reverse thrust compensation on the offset tank body, so that the welding seam maintains a constant butt gap.

[0009] Further, two sets of driving wheels, i.e., driving wheel one and driving wheel two, are also arranged on the welding driving seat, and two sections of the fermentation tank body to be welded are respectively placed on driving wheel one and driving wheel two. Through the synchronous and co-rotating of driving wheel one and driving wheel two, the welding seam of the two sections of the fermentation tank body is located in the space between the two sets of driving wheel one and driving wheel two.

[0010] Further, the welding robotic arm is fixedly connected to the tank pressing cover, and a welding head is arranged at the welding end of the welding robotic arm. The welding head penetrates through the arc top of the tank pressing cover, and the movement of the welding head does not affect the tank pressing cover.

[0011] Further, the seam pressing wheel includes seam pressing wheel one and seam pressing wheel two. Seam pressing wheel two is located on the un-welded side of the two sections of the fermentation tank body. The deformation sensor includes sensor one and sensor two. Sensor one is located on the outer periphery of seam pressing wheel one, and sensor two is located on the outer periphery of seam pressing wheel two.

[0012] Further, a central split seam is opened at the central position of seam pressing wheel two, and a plurality of rotating plates are fixedly arranged on the central axis in the central split seam. The central split seam is aligned with the welding seam of the two sections of the fermentation tank body.

[0013] Further, a telescopic cylinder is fixedly arranged on the side wall of the welding robotic arm. The output end of the telescopic cylinder is a telescopic arm, and the telescopic arm is fixedly connected to the slot inserting arm. By the operation of the telescopic arm of the telescopic cylinder, the slot inserting arm is controlled to insert into and pull out from the welding seam of the two sections of the fermentation tank body in a timely manner.

[0014] Further, a partition plate is fixedly arranged at the central position inside the slot inserting arm. The internal space of the slot inserting arm is divided into two non-interfering spaces by the partition plate, and a liquid sac is fixedly arranged in each of the two spaces. The two liquid sacs are respectively communicated with the corresponding hydraulic expansion sacs.

[0015] Further, a liquid supply pipe is fixedly connected to the liquid supply end of each of the two liquid sacs. The ends of the two liquid supply pipes far from the liquid sacs are connected to a pressure regulating device, and the pressure regulating device is a precision liquid supply valve. The precision liquid supply valve is also fixed on the outer wall of the welding robotic arm.

[0016] Further, swing plates are rotatably arranged on the outer walls on both sides of the slot inserting arm. A plurality of swing plates are provided and are arranged in a longitudinal array. A push top spring and a linkage rope are fixedly arranged on the back surface of the swing plate, and a reciprocating arm is arranged at the other end of the linkage rope.

[0017] Further, a reset spring is fixedly arranged at the bottom end of the reciprocating arm, and a force receiving arm is fixedly arranged at the top end of the reciprocating arm. The reciprocating arm is slidably connected to the slot inserting arm, and the force receiving arm is in contact with the rotating plate.

[0018] The beneficial effects of the present invention are as follows:

[0019] The present invention significantly improves welding accuracy and operation stability through the synergistic effect of the seam pressing mechanism and the can pulling compensation assembly. The double seam pressing wheels are symmetrically arranged at both ends of the arc-shaped can pressing cover, and their outer circumferences are in rolling contact with the can body, which can evenly disperse the welding pressure and avoid deformation of the can body caused by local stress concentration.

[0020] The deformation sensors distributed in an array on the surface of the seam pressing wheel can capture the deformation displacement of the welding area in real time, and provide accurate data support for subsequent compensation and adjustment by dynamically monitoring the weld deformation. In the can pulling compensation assembly, the end of the seam insertion arm extends into the inside of the butt seam, and the seam pushing plates on both sides can apply reverse thrust compensation to the offset tank body through independent pressure adjustment of the hydraulic expansion bag. When the tank body rotates and produces displacement deviation, the system adjusts the expansion pressure of the hydraulic expansion bags on both sides in real time to drive the seam pushing plates to accurately correct the deviation and ensure that the gap between the butt seams remains constant. It effectively solves the problems of weld dislocation and cold welding caused by tank body deformation or assembly errors in traditional welding, greatly improves the consistency and reliability of welding quality, and reduces the need for manual intervention. It is suitable for high-precision, continuous large-scale fermentation tank body welding scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the structure of the pressure tank cover of the present invention;

[0023] Figure 3 It is a schematic diagram of the position structure of the slot insertion arm of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of the push seam plate of the present invention;

[0025] Figure 5 It is a schematic diagram of the internal structure of the slotted arm of the present invention;

[0026] Figure 6 It is a structural schematic diagram of the second seam pressing wheel of the present invention;

[0027] Figure 7 It is a schematic diagram of the swing plate structure of the present invention;

[0028] Figure 8 It is a left-side structural schematic diagram of the swing plate of the present invention.

[0029] In the figure: 11, welding drive seat; 12, first drive wheel; 13, second drive wheel; 14, welding robot arm; 15, welding head; 2, seam pressing mechanism; 21, tank pressing cover; 22, first seam pressing wheel; 23, first sensor; 24, second seam pressing wheel; 25, middle seam; 26, second sensor; 27, rotating plate; 31, seam inserting arm; 33, precise liquid supply valve; 34, telescopic arm; 35, telescopic cylinder; 36, seam pushing plate; 37, hydraulic expansion bladder; 38, liquid supply pipe; 39, liquid bladder; 301, partition plate; 41, swing plate; 42, pushing spring; 43, metal wire; 44, reciprocating arm; 45, force receiving arm; 46, reset spring; 47, linkage rope. Detailed implementation manners

[0030] Now, the subject matter described herein will be discussed with reference to exemplary implementation manners. It should be understood that discussing these implementation manners is only to enable those skilled in the art to better understand and thus implement the subject matter described herein. Without departing from the protection scope of the content of this specification, changes can be made to the functions and arrangements of the elements discussed. Each example can omit, substitute, or add various processes or components as needed. Additionally, the features described relative to some examples can also be combined in other examples.

[0031] As Figures 1 - 8 shown, a fermentation tank welding device includes: a welding drive seat 11, a welding robot arm 14 is installed on the side of the welding drive seat 11, and a seam pressing mechanism 2 is assembled at the end of the welding robot arm 14;

[0032] The seam pressing mechanism 2 is composed of an arc-shaped tank pressing cover 21, a double seam pressing wheel assembly, and a tank pulling compensation assembly. Among them, the two seam pressing wheels are respectively rotatably and symmetrically arranged at both ends of the arc surface of the tank pressing cover 21, and the outer circumferential surface of the seam pressing wheel is in rolling contact with the outer wall of the fermentation tank. The outer surface of the seam pressing wheel is arrayed with deformation sensors for real-time detection of the deformation displacement amount of the welding area of the tank body;

[0033] The tank pulling compensation assembly includes a seam inserting arm 31 penetrating the arc surface of the tank pressing cover 21. The end of the seam inserting arm 31 extends into the docking seam of the two tank bodies. The two sides of its end are hinged with expandable seam pushing plates 36. Independent control hydraulic expansion bladders 37 are respectively embedded on the inner sides of the two seam pushing plates 36. The hydraulic expansion bladders 37 are connected to an external pressure regulating device through pipelines;

[0034] When the seam pressing wheel generates a displacement deviation as the tank body rotates, the deformation sensor feeds the deformation signal back to the control system. By respectively adjusting the expansion pressures of the two hydraulic expansion bladders 37, the seam pushing plates 36 are driven to apply a reverse thrust compensation to the offset tank body, so that the welding seam maintains a constant docking gap.

[0035] There are also two sets of driving wheels one 12 and driving wheels two 13 arranged on the welding driving seat 11, and the two sections of the fermentation tank body to be welded are respectively placed on the driving wheels one 12 and the driving wheels two 13. By rotating the driving wheels one 12 and the driving wheels two 13 at the same speed and in the same direction, the welding seam of the two sections of the fermentation tank body is in the space between the two sets of driving wheels one 12 and the driving wheels two 13.

[0036] The welding robotic arm 14 is fixedly connected to the tank pressing cover 21, and a welding head 15 is arranged at the welding end of the welding robotic arm 14. The welding head 15 penetrates through the arc top of the tank pressing cover 21, and the movement of the welding head 15 does not affect the tank pressing cover 21.

[0037] The seam pressing wheel includes a seam pressing wheel one 22 and a seam pressing wheel two 24. The seam pressing wheel two 24 is located on the un-welded side of the two sections of the fermentation tank body. The deformation sensor includes a sensor one 23 and a sensor two 26. The sensor one 23 is located on the outer periphery of the seam pressing wheel one 22, and the sensor two 26 is located on the outer periphery of the seam pressing wheel two 24.

[0038] A central split seam 25 is opened at the central position of the seam pressing wheel two 24. A plurality of rotating plates 27 are fixedly arranged on the central axis in the central split seam 25. The central split seam 25 is aligned with the welding seam of the two sections of the fermentation tank body.

[0039] A telescopic cylinder 35 is fixedly arranged on the side wall of the welding robotic arm 14. The output end of the telescopic cylinder 35 is a telescopic arm 34. The telescopic arm 34 is fixedly connected to the slot inserting arm 31. By the work of the telescopic arm 34 of the telescopic cylinder 35, the slot inserting arm 31 is controlled to be inserted into the welding seam of the two sections of the fermentation tank body in time and pulled out from the welding seam of the two sections of the fermentation tank body.

[0040] A partition plate 301 is fixedly arranged at the central position inside the slot inserting arm 31. The internal space of the slot inserting arm 31 is divided into two non-interfering spaces by the partition plate 301. And a liquid sac 39 is fixedly arranged in each of the two spaces. The two liquid sacs 39 are respectively communicated with the corresponding hydraulic expansion sacs 37.

[0041] The liquid supply ends of the two liquid sacs 39 are both fixedly connected with a liquid supply pipe 38. The ends of the two liquid supply pipes 38 far away from the liquid sacs 39 are connected to a pressure regulating device. And the pressure regulating device is a precision control liquid supply valve 33. The precision control liquid supply valve 33 is also fixed on the outer wall of the welding robotic arm 14.

[0042] Swing plates 41 are rotatably arranged on the outer walls on both sides of the slot inserting arm 31. A plurality of swing plates 41 are arranged and are in a longitudinal array. A push top spring 42 and a linkage rope 47 are fixedly arranged on the back surface of the swing plate 41. The other end of the linkage rope 47 is provided with a reciprocating arm 44.

[0043] A reset spring 46 is fixedly arranged at the bottom end of the reciprocating arm 44. A stress arm 45 is fixedly arranged at the top end of the reciprocating arm 44. The reciprocating arm 44 is slidably connected to the slot inserting arm 31. The stress arm 45 is in contact with the rotating plate 27.

[0044] When welding the fermentation tank body, first, place the two sections of the fermentation tank body to be welded on the driving wheel 12 and the driving wheel 13 respectively, and align the welds of the two sections of the fermentation tank body so that the gap size between the two sections of the fermentation tank body meets the preset size. Then, through the rotation of the driving wheel 12 and the driving wheel 13, drive the two sections of the fermentation tank body to rotate at the same speed and in the same direction simultaneously;

[0045] At the same time, control the operation of the welding robot arm 14 through the system, so that the position of the welding robot arm 14 is just suitable for the position of the weld of the two sections of the fermentation tank body, press the tank pressing cover 21 on the welds of the two sections of the fermentation tank body respectively, and then weld the two sections of the fermentation tank body through the welding head 15. Before welding, drive the slot inserting arm 31 to insert into the weld through the middle seam 25 by the telescopic arm 34 of the telescopic cylinder 35;

[0046] The welding robot arm 14 is fixedly connected to the tank pressing cover 21, and the welding head 15 passes through the arc top of the tank pressing cover 21 and the activities do not affect each other. Such a structural layout enables the welding robot arm 14 to perform welding operations flexibly while stably pressing the fermentation tank body, improving the accuracy and convenience of welding;

[0047] Real-time detect the deformation displacement of the tank body welding area through the sensor 1 23 and the sensor 2 26. If the two sections of the fermentation tank body are deformed under gravity, at this time, the sensor 1 23 and the sensor 2 26 will feedback the deformation signal to the control system. After calculation by the system, control the precise control liquid supply valve 33 to work, inject liquid into the two liquid sacs 39. As the liquid in the liquid sacs 39 increases, the hydraulic expansion bladder 37 can be expanded, thereby driving the two seam pushing plates 36 to unfold. The unfolding of the seam pushing plates 36 just applies an external force to the two sections of the fermentation tank body. According to the different expansion volumes of the hydraulic expansion bladder 37, different external forces are applied to different sections of the fermentation tank body. The liquid expansion can also play a micro-level control.

[0048] When the second seam pressing wheel 24 rotates with the fermentation tank body, the rotating plate 27 rotates and presses down on the force receiving arm 45, causing the reciprocating arm 44 to reciprocate up and down. When the reciprocating arm 44 moves downward, it will pull several control ropes 47, and at the same time drive several swing plates 41 to swing. The surface of the swing plate 41 is provided with metal wires 43. When the metal wires 43 swing, they will clean the weld of the fermentation tank body to prevent residues from affecting the welding. The reciprocating arm 44 can quickly reset under the push of the return spring 46;

[0049] Finally, when the fermentation tank body is about to be welded, quickly withdraw the slot inserting arm 31 from the weld through the telescopic cylinder 35. Before withdrawing, the hydraulic expansion bladder 37 deflates first.

[0050] Working steps:

[0051] Preparation stage: Place the two fermentation tank bodies to be welded on the first driving wheel 12 and the second driving wheel 13 respectively, ensure that the welds are aligned and the gap size meets the preset requirements, and then start the first driving wheel 12 and the second driving wheel 13 to rotate at the same speed and in the same direction, driving the two fermentation tank bodies to rotate synchronously;

[0052] The welding driving seat 11 cooperates with the first driving wheel 12 and the second driving wheel 13, can stably support the fermentation tank body to be welded, and realizes the synchronous rotation of the two fermentation tank bodies through the same-speed and same-direction rotation of the first driving wheel 12 and the second driving wheel 13, providing good basic conditions for the welding work and ensuring the stability of the welding process.

[0053] Mechanical arm positioning and insertion arm 31 insertion stage: Control the welding mechanical arm 14 to move to a suitable position through the system, so that the tank pressing cover 21 presses on the welds of the two fermentation tank bodies, and the welding head 15 is in a state ready to work. Subsequently, the telescopic cylinder 35 drives the telescopic arm 34 to drive the insertion arm 31 to insert into the welding seam of the two fermentation tank bodies through the middle seam 25.

[0054] The design of the tank pulling compensation component is extremely ingenious. The end of the insertion arm 31 passing through the arc surface of the tank pressing cover 21 extends into the docking seam of the two tank bodies. The two sides of its end are hinged with deployable seam pushing plates 36, and in cooperation with the independently controlled hydraulic expansion bladder 37 and the external pressure regulating device, when the seam pressing wheel generates a displacement deviation as the tank body rotates, the expansion pressure of the hydraulic expansion bladder 37 can be adjusted to drive the seam pushing plate 36 to apply a reverse thrust compensation to the offset tank body, thereby ensuring that the welding seam always maintains a constant docking gap, effectively improving the welding quality and avoiding welding defects caused by unstable welding seam gaps.

[0055] Welding and compensation stage: The welding head 15 starts to weld the two fermentation tank bodies, and at the same time, the first sensor 23 and the second sensor 26 detect the deformation displacement of the welding area of the tank body in real time. If deformation is detected, the control system controls the precision liquid supply valve 33 to supply liquid to the liquid bladder 39 according to the feedback signal, so that the hydraulic expansion bladder 37 expands, drives the seam pushing plate 36 to unfold, applies a reverse thrust compensation to the offset tank body, and maintains a constant docking gap of the welding seam.

[0056] The arc-shaped tank pressing cover 21 and the double seam pressing wheel assembly with deformation sensors symmetrically arranged in the seam pressing mechanism 2 can closely fit the outer wall of the fermentation tank body, effectively pressing the tank body during the welding process to prevent the tank body from shifting due to external forces. The deformation sensor detects the deformation displacement of the welding area of the tank body in real time and timely feeds back the signal to the control system, providing data support for subsequent compensation measures and helping to ensure the docking accuracy of the welding seam.

[0057] Cleaning stage: As the second seam pressing wheel 24 rotates with the fermentation tank body, the force arm 45 is rotated and pressed downward by the rotating plate 27, causing the reciprocating arm 44 to reciprocate up and down. The reciprocating arm 44 pulls the control rope 47 downward, driving the swing plate 41 to swing. The wire 43 on its surface cleans the welded seam, removing residues. The return spring 46 pushes the reciprocating arm 44 to quickly return to its original position, ensuring the continuity of the cleaning action.

[0058] Welding completion and withdrawal stage: When the fermentation tank body is about to complete welding, the telescopic cylinder 35 drives the seam inserting arm 31 to quickly withdraw from the welded seam. Before withdrawal, the hydraulic expansion bladder 37 deflates first, completing the entire welding process.

[0059] The embodiments of the present invention have been described above. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of this embodiment, those of ordinary skill in the art can also make many forms, all of which fall within the protection scope of this embodiment.

Claims

1. A fermentation tank welding device, characterized in that, Including: A welding driving seat (11), a welding robot arm (14) is installed on the side of the welding driving seat (11), and a seam pressing mechanism (2) is assembled at the end of the welding robot arm (14); The seam pressing mechanism (2) is composed of an arc-shaped can pressing cover (21), a double seam pressing wheel assembly and a can pulling compensation assembly. Among them, two seam pressing wheels are symmetrically arranged at both ends of the arc surface of the can pressing cover (21) in a rotating manner, and the outer circumferential surface of the seam pressing wheel is in rolling contact with the outer wall of the fermentation tank body. The outer surface of the seam pressing wheel is arrayed with deformation sensors for real-time detection of the deformation displacement of the welding area of the tank body; The can pulling compensation assembly includes an insertion seam arm (31) penetrating the arc surface of the can pressing cover (21). The end of the insertion seam arm (31) extends into the docking seam of two sections of the tank body. Expandable seam pushing plates (36) are hinged on both sides of its end. Independent control hydraulic expansion bags (37) are respectively embedded on the inner sides of the two seam pushing plates (36). The hydraulic expansion bags (37) are connected to an external pressure regulating device through pipelines; When the seam pressing wheel generates a displacement deviation as the tank body rotates, the deformation sensor feeds the deformation signal back to the control system. By respectively adjusting the expansion pressures of the two hydraulic expansion bags (37), the seam pushing plates (36) are driven to apply a reverse thrust compensation to the offset tank body, so that the welding seam maintains a constant docking gap.

2. The welding device for a fermentation tank according to claim 1, characterized in that, Two groups of driving wheels one (12) and driving wheels two (13) are also arranged on the welding driving seat (11). Two sections of the fermentation tank body to be welded are respectively placed on the driving wheels one (12) and driving wheels two (13). Through the same-speed and same-direction rotation of the driving wheels one (12) and driving wheels two (13), the welding seam of the two sections of the fermentation tank body is in the space between the two groups of driving wheels one (12) and driving wheels two (13).

3. The welding equipment for a fermentation tank body according to claim 1, characterized in that, The welding robot arm (14) is fixedly connected to the can pressing cover (21), and a welding head (15) is arranged at the welding end of the welding robot arm (14). The welding head (15) penetrates the arc top of the can pressing cover (21), and the movement of the welding head (15) does not affect the can pressing cover (21).

4. A fermentation tank welding device according to claim 1, characterized in that, The seam pressing wheel includes a seam pressing wheel one (22) and a seam pressing wheel two (24). The seam pressing wheel two (24) is located on the side where the two sections of the fermentation tank body are not welded. The deformation sensors include a sensor one (23) and a sensor two (26). The sensor one (23) is located on the outer circumference of the seam pressing wheel one (22), and the sensor two (26) is located on the outer circumference of the seam pressing wheel two (24).

5. The welding equipment for a fermentation tank according to claim 4, characterized in that, A middle dividing seam (25) is opened at the center position of the seam pressing wheel two (24). A plurality of rotating plates (27) are fixedly arranged on the central axis in the middle dividing seam (25). The middle dividing seam (25) is aligned with the welding seam of the two sections of the fermentation tank body.

6. The welding equipment for a fermentation tank according to claim 1, characterized in that, A telescopic cylinder (35) is fixedly arranged on the side wall of the welding robot arm (14). The output end of the telescopic cylinder (35) is a telescopic arm (34). The telescopic arm (34) is fixedly connected to the insertion seam arm (31). The insertion seam arm (31) is controlled to be inserted into and pulled out of the welding seam of the two sections of the fermentation tank body in time through the operation of the telescopic arm (34) of the telescopic cylinder (35).

7. A fermentation tank welding device according to claim 1, characterized in that, A partition plate (301) is fixedly arranged at the internal central position of the slot insertion arm (31). The partition plate (301) divides the internal space of the slot insertion arm (31) into two non-interfering spaces, and a liquid sac (39) is fixedly arranged in each of the two spaces. The two liquid sacs (39) are respectively communicated with the corresponding hydraulic expansion sacs (37).

8. A fermentation tank welding device according to claim 7, characterized in that, A liquid supply pipe (38) is fixedly connected to the liquid supply end of each of the two liquid sacs (39). One end of the two liquid supply pipes (38) far away from the liquid sacs (39) is connected to a pressure regulating device, and the pressure regulating device is a precision liquid supply valve (33). The precision liquid supply valve (33) is also fixed on the outer wall of the welding robot arm (14).

9. The welding equipment for a fermentation tank according to claim 5, characterized in that, Swing plates (41) are rotatably arranged on the outer walls on both sides of the slot insertion arm (31). A plurality of the swing plates (41) are provided and are arranged in a longitudinal array. A push spring (42) and a linkage rope (47) are fixedly arranged on the back surface of the swing plate (41). The other end of the linkage rope (47) is provided with a reciprocating arm (44).

10. A fermentation tank welding device according to claim 9, characterized in that, A return spring (46) is fixedly arranged at the bottom end of the reciprocating arm (44), a force receiving arm (45) is fixedly arranged at the top end of the reciprocating arm (44), the reciprocating arm (44) is slidably connected to the slot insertion arm (31), and the force receiving arm (45) is in contact with the follower plate (27).

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