CN108106754A

CN108106754A - A kind of dynamic monitor and monitoring method of industrial equipment dangerous situation

Info

Publication number: CN108106754A
Application number: CN201810102923.6A
Authority: CN
Inventors: 周浩宇; 向锡炎; 刘前
Original assignee: Zhongye Changtian International Engineering Co Ltd
Current assignee: Zhongye Changtian International Engineering Co Ltd
Priority date: 2018-02-01
Filing date: 2018-02-01
Publication date: 2018-06-01
Anticipated expiration: 2038-02-01
Also published as: CN108106754B

Abstract

The invention discloses a kind of dynamic monitors of industrial equipment dangerous situation, including patrol device, detector and controller, the patrol device includes patrol robot, driving device and the track being arranged at the industrial equipment dangerous situation position to be monitored, the detector is mounted on patrol robot, the patrol robot orbits under the driving of driving device, and the monitoring signals received at position to be monitored are sent to controller by the detector in real time.The present invention correspondingly provides a kind of monitoring method of above-mentioned dynamic monitor.The monitoring range of dynamic monitor of the present invention is big, it is small to occupy operating space, and monitoring method is easy, and monitoring efficiency is high.

Description

A kind of dynamic monitor and monitoring method of industrial equipment dangerous situation

Technical field

The invention belongs to dangerous situation monitoring field more particularly to a kind of monitoring devices and monitoring method of industrial equipment dangerous situation.

Background technology

During modern sintering process, industrial equipment dangerous situation needs to be monitored.Existing conventional way is in equipment Some fixed point on detector, such as carbon monoxide detector, temperature monitor are installed, then detector is passed through into signal cable, power Cable etc. is connected with Central Control Room, and detector is by the relevant parameter of real-time watch device during production, once the safety value beyond setting Ring alarming horn and alarm signal will be sent to Central Control Room, announcement operations works are away from there may be the equipment of dangerous situation.

Conventional way usually has following three big defects in production application at this stage.

1st, monitoring range is small：The prior art generally sets detector in some point of equipment, and this method can only monitor work The relevant parameter of industry equipment very small part area, monitoring range is very small, can not reflect real situation, can reduce industry The safety coefficient of equipment brings the personal safety of operative employee very big hidden danger.But if it is set at multiple of industrial equipment Detector is put, then again cost can be caused excessively high, and industrial equipment operating space can be greatly decreased.

2nd, the operating space of industrial equipment is occupied：Detector needs are connected with signal cable, power cable could be normal Running, and cable needs outer steel pipe, these optional equipments can occupy limited operating space significantly, and operative employee is operating When, easily trip to form production accident by cable jacket steel pipe.

3rd, dangerous situation position can not be prejudged：Under the prior art, when detector detects dangerous situation, system can not prejudge out dangerous situation Position.If wanting to learn dangerous situation point, operative employee would have to hold portable detector that position is gone to test one by one, it is not only cumbersome but also Increase labor intensity.

The content of the invention

The technical problems to be solved by the invention are to overcome the shortcomings of to mention in background above technology and defect, provide monitoring Scope is big, occupies little space, the dynamic monitor for the industrial equipment dangerous situation that operating quantity is small, and accordingly provides its monitoring method. In order to solve the above technical problems, technical solution proposed by the present invention is：

A kind of dynamic monitor of industrial equipment dangerous situation, including patrol device, detector and controller, the patrol dress It puts including patrol robot, driving device and the track being arranged at the industrial equipment dangerous situation position to be monitored, the detection Instrument is mounted on patrol robot, and the patrol robot orbits under the driving of driving device, the detector The monitoring signals received at position to be monitored are sent to controller in real time.

In the dynamic monitor of above-mentioned industrial equipment dangerous situation, it is preferred that the signal between the detector and controller Pass through wireless transmission.The use of cable and cable sleeve can be greatly reduced using wireless transmission, operating space can be saved, may be used also Operative employee is reduced to stumble to cable sleeve and the hidden danger tumbled.

In the dynamic monitor of above-mentioned industrial equipment dangerous situation, it is preferred that the patrol device can adjust for patrol track The equation of light tracking formula patrol device, it is described patrol track at position to be monitored in be closed loop wire.It is gone on patrol with equation of light tracking formula Device, the position of track can be by needs arbitrary adjustment of the operative employee according to monitoring position, and greatly increasing device in the present invention makes Flexibility, it is ensured that the device in the present invention is suitable for different occasions, can be with the use scope of expansion instrument.

In the dynamic monitor of above-mentioned industrial equipment dangerous situation, it is preferred that the track is by track open-wire line and track concealed wire It forms, there is aberration, the color and surrounding enviroment of the track open-wire line and track concealed wire between the track open-wire line and track concealed wire Color it is different, the patrol robot includes light sensation receiver, hunting module and guider, and the light sensation receiver receives Come from the coloured light signal of track and feed back to hunting module, the hunting module controls guider to realize patrol robot Continue to move in orbit.After hunting module is opened, light sensation receiver can be opened simultaneously receives coloured light signal, and guider exists The patrol robot direction of motion can be controlled under the control of hunting module, light sensation receiver is enable to receive always from track open-wire line With the light-sensing signal of track concealed wire, so that patrol robot is always held on the patrol track of setting, thus formed Patrol robot does the patrol campaign of path type on predetermined track, to realize the dynamic monitoring to industrial equipment.Rail Road open-wire line can ensure that light sensation receiver is identical in reception always with the color of track concealed wire with the color difference of surrounding enviroment Aberration, surrounding enviroment do not interfere with the work of light sensation receiver, it is ensured that the orderly operation of whole device.

In the dynamic monitor of above-mentioned industrial equipment dangerous situation, it is preferred that the track is equipped with limit switch, described to patrol It patrols robot to be equipped with to stir the plectrum of the limit switch, the limit switch automatically resets after being struck./V is opened The position that may be used to determine patrol robot with plectrum is closed, after limit switch is struck, limit switch can inform controller Patrol robot has had run through a circle (operation lap time stirs the time between limit switch for plectrum twice), simultaneously Controller can return to zero the position of patrol robot, and after detector monitors dangerous situation, dangerous situation position can be analyzed by controller It puts.

The technical concept total as one, the present invention also provides a kind of dynamic monitoring method of industrial equipment dangerous situation, including Following steps：

(1) mounted tracks at industrial equipment dangerous situation position to be monitored, a patrol robot is put in orbit, and by one Detector is on patrol robot；

(2) under the driving of a driving device, it is equiped with the patrol robot persistent movement in orbit of the detector；

(3) above-mentioned detector is opened, and the monitoring signals of the detector is made to be sent to a controller in real time；

(4) when the monitoring signals exception, the controller receives alarm and automatic measurement ＆ calculation dangerous situation position after abnormal signal It puts and is exported.

In above-mentioned monitoring method, it is preferred that when the monitoring signals exception, the patrol robot automatic whistling, institute It states after controller receives abnormal signal and sends stopping actuating signal to the patrol robot automatically.When monitoring signals exception, Patrol robot stopping action and automatic whistling, the additional patrol machine of approximate location that maintenance personal can provide according to controller The whistle sound of people can find dangerous situation position with accurate quick, and dangerous situation is handled with most fast speed, and the potential hazard of dangerous situation is dropped It is extremely minimum.

In above-mentioned monitoring method, it is preferred that the track is equipped with limit switch, and the patrol robot is equipped with and is used for The plectrum of the limit switch is stirred, the limit switch automatically resets after being struck.

In above-mentioned monitoring method, it is preferred that dangerous situation position is equipped in the controller and prejudges system, the dangerous situation position is pre- The process for sentencing system automatic measurement ＆ calculation dangerous situation position is as follows：The plectrum of the limit switch is stirred by patrol robot, is often stirred The controller is once transmitted a signal to, the controller returns to zero the location information of patrol robot after receiving signal, institute State controller according to one circle required time of patrol robot operation, patrol robot the speed of service and ran The time automatic measurement ＆ calculation that monitoring signals are received in journey goes out orbital position where when the detector sends monitoring signals, and root According to the generation position of orbital position prediction industrial equipment dangerous situation.After limit switch is struck, limit switch can inform controller Patrol robot has had run through a circle (operation lap time stirs the time between limit switch for plectrum twice), simultaneously Controller can return to zero the position of patrol robot, after detector monitors dangerous situation, be prejudged by the dangerous situation position of controller System can analyze dangerous situation position.

In above-mentioned monitoring method, it is preferred that the patrol robot uniform motion in orbit.Patrol robot keeps even Speed movement can increase the accuracy of dangerous situation position anticipation network analysis dangerous situation position.

Compared with prior art, the advantage of the invention is that：

1st, monitoring range is big：Detector is with patrol robot loopy moving in orbit incessantly, prison in the present invention Surveying scope can cover to the region to be monitored of entire industrial equipment, and any one place in region to be monitored has dangerous situation that can all be detected instrument to catch It grasps, the safety coefficient of production can be greatly improved.

2nd, it is small to occupy operating space：Present invention patrol device need not use cable and cable sleeve, can reduce device greatly and account for Operating space also reduces operative employee and stumbles the hidden danger tumbled to cable sleeve.

3rd, monitoring method of the present invention is easy, and monitoring efficiency is high, and the prison of a wide range of dangerous situation can be realized using simple device Control only uses a detector during entire monitoring, of low cost, can be widely applied to the various industry for needing to monitor and sets It is standby, have a vast market prospect.

Description of the drawings

It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention Some embodiments, for those of ordinary skill in the art, without creative efforts, can also basis These attached drawings obtain other attached drawings.

Fig. 1 is the structure diagram of agglomerating plant in the embodiment of the present invention 1.

Fig. 2 is the structure diagram of ignition furnace in the embodiment of the present invention 1.

Fig. 3 is the top view of Fig. 2.

Fig. 4 is the structure diagram that ignition furnace furnace roof dynamic goes on patrol device in the embodiment of the present invention 1.

Fig. 5 is another structure diagram that ignition furnace furnace roof dynamic goes on patrol device in the embodiment of the present invention 1.

Fig. 6 is the Section View in D-D faces in Fig. 1.

Fig. 7 is that dynamic goes on patrol the structure diagram of device at the top of combustion gas blow in the embodiment of the present invention 1.

Fig. 8 is that dynamic goes on patrol another structure diagram of device at the top of combustion gas blow in the embodiment of the present invention 1.

Fig. 9 is that dynamic goes on patrol another structure diagram of device at the top of combustion gas blow in the embodiment of the present invention 1.

Figure 10 is the structural representation that ignition furnace furnace roof goes on patrol device with dynamic at the top of combustion gas blow in the embodiment of the present invention 1 Figure.

Figure 11 is another knot of ignition furnace furnace roof and dynamic patrol device at the top of combustion gas blow in the embodiment of the present invention 1 Structure schematic diagram.

Figure 12 is carbon monoxide detector structure diagram in the embodiment of the present invention 1.

Figure 13 is the operation principle flow chart that CO leaks dynamic monitoring in the present invention.

Figure 14 is the structure diagram of rotary kiln in the embodiment of the present invention 2.

Figure 15 is the top view of Figure 14.

Figure 16 is the structure diagram that rotary kiln valve group platform dynamic goes on patrol device in the embodiment of the present invention 2.

Figure 17 is another structure diagram that rotary kiln valve group platform dynamic goes on patrol device in the embodiment of the present invention 2.

Figure 18 is another structure diagram that rotary kiln valve group platform dynamic goes on patrol device in the embodiment of the present invention 2.

Figure 19 is the structure diagram of lime shaft kiln in the embodiment of the present invention 3.

Figure 20 is the structure diagram that shaft furnace body CO leakages dynamic goes on patrol device in the embodiment of the present invention 3.

Figure 21 is another structure diagram that shaft furnace body CO leakages dynamic goes on patrol device in the embodiment of the present invention 3.

Figure 22 is the structure diagram of patrol robot in the present invention.

Figure 23 is the top view of rotary hearth furnace in the embodiment of the present invention 4.

Figure 24 is C-C faces Section View in Figure 23.

Figure 25 is the scheme of installation that device is dynamically gone on patrol in the embodiment of the present invention 4.

Figure 26 is another scheme of installation that device is dynamically gone on patrol in the embodiment of the present invention 4.

Figure 27 is another scheme of installation that device is dynamically gone on patrol in the embodiment of the present invention 4.

Figure 28 is the structure diagram of patrol robot in the embodiment of the present invention 4.

Figure 29 is the operation principle flow chart that furnace lining peels off dynamic monitoring in the present invention.

Figure 30 is the structure diagram of ceramic roller kiln in the embodiment of the present invention 5.

Figure 31 is A-A faces Section View in Figure 30.

(kiln is as the expansion in B-B faces in Figure 31 dynamically to go on patrol the scheme of installation of device in the embodiment of the present invention 5 by Figure 32 Figure).

(kiln is as B-B faces in Figure 31 dynamically to go on patrol another scheme of installation of device in the embodiment of the present invention 5 by Figure 33 Expanded view).

Figure 34 is the structure diagram that device is dynamically gone on patrol in the embodiment of the present invention 6.

Figure 35 is another structure diagram that device is dynamically gone on patrol in the embodiment of the present invention 6.

Figure 36 is the structure diagram that device is dynamically gone on patrol in the embodiment of the present invention 7.

Figure 37 is that furnace lining peels off another structure diagram that dynamic goes on patrol device in the embodiment of the present invention 7.

Marginal data：

1st, device is gone on patrol；11st, patrol robot；12nd, track；121st, track open-wire line；122nd, track concealed wire；21st, CO is detected Instrument；211st, air hatch；212nd, protective cover；22nd, temperature monitor；3rd, controller；4th, ignition furnace；5th, limit switch；6th, plectrum；7、 Rotary kiln；71st, kiln body；72nd, central burner；73rd, valve group platform；8th, combustion gas blowing device；81st, combustion gas blow；82nd, gas injection Blowpipe road；9th, lime shaft kiln；91st, shaft furnace body；92nd, feeding device；93rd, blower device；10th, ceramic roller kiln；1001st, kiln body； 1002nd, burner；1003rd, trolley；14th, agglomerating plant trolley；15th, rotary hearth furnace；151st, furnace roof furnace lining；152nd, side wall furnace lining；20th, magnetic Iron anti-derail unit；25th, high temperature resistant heat insulation plate；26th, traveling wheel.

Specific embodiment

For the ease of understanding the present invention, the present invention is made below in conjunction with Figure of description and preferred embodiment more complete Face meticulously describes, but protection scope of the present invention is not limited to embodiment in detail below.

Unless otherwise defined, all technical terms used hereinafter and the normally understood meaning of those skilled in the art It is identical.Technical term used herein is intended merely to the purpose of description specific embodiment, is not intended to the limitation present invention Protection domain.

Unless otherwise specified, various raw material, reagent, the instrument and equipment etc. used in the present invention can pass through city Field is commercially available or can be prepared by existing method.

Embodiment 1：

As shown in Fig. 1-3, Fig. 6, the dynamic monitor of the agglomerating plant CO leakages of the present embodiment, agglomerating plant includes point Stove 4, combustion gas blowing device 8 and agglomerating plant trolley 14, ignition furnace 4 include 41 and one row of two rows of igniter burners and keep the temperature burner 42, combustion gas blowing device 8 includes combustion gas blow 81 and combustion gas injection tube road 82.Dynamic monitor at least set it is a set of, move State monitoring device includes patrol device 1, carbon monoxide detector 21 and controller 3, and patrol device 1 includes patrol robot 11, driving dress It puts (including driving motor and traveling wheel 26) and is arranged on the track 12, CO at 81 top of 4 furnace roof of ignition furnace and/or combustion gas blow Detector 21 is mounted on patrol robot 11, and patrol robot 11 is run on the track 12 under the driving of driving device, CO The monitoring signals received in 4 furnace roof of ignition furnace and/or 81 top of combustion gas blow are sent to controller 3 by detector 21 in real time.

In the present embodiment, patrol device 1 goes on patrol device for the adjustable equation of light tracking formula in patrol track, and patrol track is in point 4 furnace roof of stove and/or 81 top of combustion gas blow are in closure loop wire.It is specific as follows：Track 12 is dark by track open-wire line 121 and track Line 122 is formed, and has aberration between track open-wire line 121 and track concealed wire 122, the color of track open-wire line 121 and track concealed wire 122 with The color of surrounding enviroment is different, and patrol robot 11 includes light sensation receiver, hunting module and guider, and light sensation receiver connects It receives the coloured light signal for coming from track 12 and feeds back to hunting module, hunting module controls guider to realize patrol robot 11 continue to move on the track 12.After hunting module is opened, light sensation receiver can be opened simultaneously receives coloured light signal, is oriented to dress 11 direction of motion of patrol robot can be controlled under the control of hunting module by putting, and light sensation receiver is enable to receive always from rail The light-sensing signal of road open-wire line 121 and track concealed wire 122, so that patrol robot 11 is always held at the patrol track of setting On 12, the patrol campaign of path type is done on predetermined track 12 material is thus formed patrol robot 11, to realize to point The dynamic monitoring at 81 top of 4 furnace roof of stove and/or combustion gas blow.Color and periphery of the track open-wire line 121 with track concealed wire 122 The color difference of environment can ensure that light sensation receiver is receiving identical aberration always, and surrounding enviroment do not interfere with light sensation and connect Receive the work of device, it is ensured that the orderly operation of whole device.

In the present embodiment, track 12 is equipped with limit switch 5, and patrol robot 11 is equipped with to stir limit switch 5 Plectrum 6, limit switch 5 automatically resets after being struck.

In the present embodiment, the signal transmission between carbon monoxide detector 21 and controller 3 is wireless transmission.It can using wireless transmission To greatly reduce the use of cable and cable sleeve, operating space can be saved, operative employee can be also reduced and stumble to cable sleeve and fall The hidden danger of fall.

In the present embodiment, when dynamic monitor is provided with two sets, at this point, the track 12 of 4 furnace roof of ignition furnace and combustion gas The track 12 at 81 top of blow is mutual indepedent.Ignition furnace 4 furnace roof track, 12 deployment scenarios are as follows：As shown in figure 4, it is this implementation A kind of track-wise in example, the track of the track 12 of 4 furnace roof of ignition furnace is four sides identical with 4 furnace roof shape of ignition furnace Shape, and four angles of quadrangle are close with four angles of 4 furnace roof of ignition furnace respectively.But in the present embodiment, 4 furnace roof track of ignition furnace 12 patrol track can be adjusted according to actual demand.As shown in figure 5, the track of the track 12 of 4 furnace roof of ignition furnace is one Concave, two rows of 41 and one rows of igniter burner keep the temperature burner 42 respectively positioned at plane where four vertical edges of the concave Between three sections of spaces in.In the present embodiment, the scheme shown in Fig. 5 is preferred embodiment, because concave track can ensure Track 12 is from igniter burner 41, heat preservation burner 42 closer to when there is CO leakages, carbon monoxide detector 21 can monitor to leak at the first time Situation facilitates maintenance personal's processing CO leakages at the first time.Certainly, the track of the track 12 of 4 furnace roof of ignition furnace can also be other Shape, such as serpentine.12 deployment scenarios of track at 81 top of combustion gas blow are as follows：As shown in fig. 7, combustion gas blow 81 pushes up The track of the track 12 in portion is a quadrangle, and four angles of four angles of quadrangle respectively with 81 top of combustion gas blow are leaned on Closely.But in the present embodiment, the patrol track of the track 12 at the top of combustion gas blow 81 can be adjusted according to actual demand, as Fig. 8, Be the other two track-wise in the present embodiment shown in Fig. 9, the track of the track 12 at the top of combustion gas blow 81 for square-wave-shaped or Serpentine.It, can be by controlling patrol machine when patrol robot 11 runs to the end of track 12 when track 12 is not closed Positive/negative turn of 11 driving motor of people so that patrol robot 11 is walked along S types track again, is not being closed with realizing and so on Close continuous service on track 12.

In the present embodiment, when dynamic monitor only sets a set of, the track 12 and gas injection of 4 furnace roof of ignition furnace at this time Closure loop wire can be interconnected to or not be closed by blowing the track 12 at 81 top of cover.As shown in Figure 10, the track 12 of 4 furnace roof of ignition furnace Track with the track 12 at the top of combustion gas blow 81 is serpentine, and the track 12 of 4 furnace roof of ignition furnace and combustion gas blow 81 The track 12 at top is connected integral by the linkage section between being located at 81 top of 4 furnace roof of ignition furnace and combustion gas blow.Such as Shown in Figure 11, into a concave after the interconnection of track 12 at 81 top of track 12 and combustion gas blow of 4 furnace roof of ignition furnace. The arrangement of above-mentioned track 12 can change according to actual demand, such as can be changed to " mosquito-repellent incense " shape shape, the arrangement of track 12 Mode is not limited to above-mentioned cited situation.

In the present embodiment, the distance of carbon monoxide detector 21 and 4 furnace roof of ignition furnace is 100-150mm, carbon monoxide detector 21 and combustion gas The distance at 81 top of blow is 50-100mm；Carbon monoxide detector 21 is installed upwards perpendicular to track 12, and carbon monoxide detector 21 takes gas Mouth 211 is equipped with to prevent the protective cover 212 (as shown in figure 12) for blocking air hatch 211.

As shown in figure 13, the present embodiment also provides a kind of monitoring method of the dynamic monitor of agglomerating plant CO leakages, Comprise the following steps：

(1) in 81 top mounted tracks 12 of 4 furnace roof of ignition furnace and/or combustion gas blow, a patrol robot 11 is placed on On track 12, and by a carbon monoxide detector 21 on patrol robot 11；

(2) under the driving of a driving device, the patrol robot 11 in orbit 12 for being equiped with carbon monoxide detector 21 continues Movement, and control the speed of service of patrol robot 11 as follows：When patrol robot 11 controls it when 4 furnace roof of ignition furnace is run Speed is 1-2m/min, its speed is controlled as 0.5-1m/min when patrol robot 11 is in the 81 top operation of combustion gas blow, And speed of the control patrol robot 11 when by 81 top valve location of combustion gas blow is automatically slack-off；

(3) above-mentioned carbon monoxide detector 21 is opened, and the monitoring signals of the carbon monoxide detector 21 is made to be sent to a controller in real time 3；

(4) when monitoring signals exception, controller 3 receives alarm and the progress of automatic measurement ＆ calculation CO leak positions after abnormal signal Output.

In the present embodiment, when monitoring signals exception, controller 3 can be sent out after receiving abnormal signal to patrol robot 11 Go out the signal that stops operating, work to be operated manually is continued to operate by operative employee to the input of controller 3 again after CO leakages are handled Signal, patrol robot 11 are further continued for operating.Certainly, controller 3 also can not send the signal that stops operating to patrol robot 11, And running is to continue with for monitoring abnormal signal elsewhere, it can so ensure the continuity of monitoring.In addition, it also may be selected Property alarm is installed on patrol robot, when occur CO leakage alarm device can sound the alarm remind operative employee.

CO leak positions are equipped in the present embodiment, in controller 3 and prejudge system, CO leak positions anticipation system automatic measurement ＆ calculation The process of CO leak positions is as follows：The plectrum 6 of limit switch 5 is stirred by patrol robot 11, often stirs and once passes signal Controller 3 is given, controller 3 returns to zero the location information of patrol robot 11 after receiving signal, and controller 3 is according to patrol machine Monitoring signals are received in one circle of the operation of people 11 required time, the speed of service of patrol robot 11 and operational process Time automatic measurement ＆ calculation goes out the orbital position where when carbon monoxide detector 21 sends monitoring signals, and predicts ignition furnace according to orbital position 4 furnace roofs and/or the generation position of 81 top CO of combustion gas blow leakages.After limit switch 5 is struck, limit switch 5 can accuse Know 3 patrol robot 11 of controller had run through one circle (operation lap time for plectrum 6 stir twice limit switch 5 it Between time), while controller 3 can return to zero the position of patrol robot 11, after carbon monoxide detector 21 monitors CO leakages, lead to CO leak positions can be analyzed by crossing the CO leak positions anticipation system of controller 3.

The monitoring range of device is big in the present embodiment, occupancy operating space is small, has a wide range of application.Monitoring side in the present embodiment Method is easy, monitoring efficiency is high, of low cost, has a vast market prospect.

Embodiment 2：

As shown in Figure 14, Figure 15, the dynamic monitor of 7 valve group platform 73CO of the rotary kiln leakages of the present embodiment, revolution Kiln 7 includes the driving device that kiln body 71, the burner apparatus for 71 heat supply of kiln body and drive kiln body 71 rotate, burner apparatus bag Include central burner 72 and the valve group platform 73 for providing fuel to central burner 72.Dynamic monitor include patrol device 1, Carbon monoxide detector 21 and controller 3, patrol device 1 include patrol robot 11, driving device (including driving motor and traveling wheel 26) with being arranged on the track 12 on 73 top of valve group platform, carbon monoxide detector 21 is mounted on patrol robot 11, patrol robot 11 It is run on the track 12 under the driving of driving device, carbon monoxide detector 21 is real by the monitoring signals received on 73 top of valve group platform When be sent to controller 3.

In the present embodiment, patrol device 1 goes on patrol device for the adjustable equation of light tracking formula in patrol track, and patrol track is in valve 73 top of group platform is in closure loop wire.It is specific as follows：Track 12 is made of track open-wire line 121 and track concealed wire 122, track open-wire line There is aberration between 121 and track concealed wire 122, the color of the color and surrounding enviroment of track open-wire line 121 and track concealed wire 122 is not Together, patrol robot 11 includes light sensation receiver, hunting module and guider, and the reception of light sensation receiver comes from track 12 Coloured light signal simultaneously feeds back to hunting module, and hunting module controls guider to realize that patrol robot 11 continues on the track 12 Movement.After hunting module is opened, light sensation receiver can be opened simultaneously receives coloured light signal, and guider is in the control of hunting module 11 direction of motion of patrol robot can be controlled under system, light sensation receiver is enable to receive always from track open-wire line 121 and track The light-sensing signal of concealed wire 122 so that patrol robot 11 is always held on the patrol track 12 of setting, is thus formed Patrol robot 11 does on predetermined track 12 the patrol campaign of path type, to realize the valve group platform to rotary kiln 7 73 dynamic monitoring.Track open-wire line 121 can ensure that light sensation connects with the color of track concealed wire 122 and the color difference of surrounding enviroment It receives device and is receiving identical aberration always, surrounding enviroment do not interfere with the work of light sensation receiver, it is ensured that whole device Orderly operation.

In the present embodiment, patrol track can be adjusted according to actual demand.As shown in Figure 16, Figure 17, Figure 18, valve group platform The track of track 12 at 73 is a concave or a triangle or a quadrangle identical with 73 shape of valve group platform, four sides Four angles of shape are close with four angles of valve group platform 73 respectively.When monitoring valve group platform 73CO leakages, it should make track 12 most Close valve more than possible, can be with exact knowledge leakage point when leakage generation, and the scheme shown in Figure 18 is preferred square In case, in this scheme, track 12 is more conducive to monitoring CO leakages closer to valve.

As shown in figure 12, in the present embodiment, the air hatch 211 of carbon monoxide detector 21 is equipped with to prevent from blocking air hatch 211 Protective cover 212, carbon monoxide detector 21 installs upwards perpendicular to track 12, and distance of the carbon monoxide detector 21 apart from valve group platform 73 is 100-150mm。

As shown in figure 13, the present embodiment also provides a kind of dynamic monitoring method of 7 valve group platform 73CO of rotary kiln leakages, bag Include following steps：

(1) mounted tracks 12 at position to be monitored are leaked in 7 valve group platform 73CO of rotary kiln, a patrol robot 11 is put On the track 12, and by a carbon monoxide detector 21 on patrol robot 11；

(2) under the driving of a driving device, the patrol robot 11 in orbit 12 for being equiped with carbon monoxide detector 21 continues Movement, and the speed of service of patrol robot 11 is controlled as 1-2m/min, and patrol robot 11 is controlled to pass through valve group platform Speed during 73 valve location is automatically slack-off；

CO leak positions are equipped in the present embodiment, in controller 3 and prejudge system, CO leak positions anticipation system automatic measurement ＆ calculation The process of CO leak positions is as follows：The plectrum 6 of limit switch 5 is stirred by patrol robot 11, often stirs and once passes signal Controller 3 is given, controller 3 returns to zero the location information of patrol robot 11 after receiving signal, and controller 3 is according to patrol machine Monitoring signals are received in one circle of the operation of people 11 required time, the speed of service of patrol robot 11 and operational process Time automatic measurement ＆ calculation goes out the orbital position where when carbon monoxide detector 21 sends monitoring signals, and predicts rotary kiln according to orbital position The generation position of 7 valve group platform 73CO leakages.After limit switch 5 is struck, limit switch 5 can inform 3 patrol plane of controller Device people 11 has had run through a circle (operation lap time stirs the time between limit switch 5 for plectrum 6 twice), same to time control Device 3 processed can return to zero the position of patrol robot 11, after carbon monoxide detector 21 monitors CO leakages, be let out by the CO of controller 3 Anticipation system in leakage position can analyze CO leak positions.

Embodiment 3：

As shown in figure 19, the dynamic monitor of the lime shaft kiln 9CO leakages of the present embodiment, lime shaft kiln 9 include shaft furnace Body 91, feeding device 92 and blower device 93, feeding device 92 are arranged on the top of shaft furnace body 91, and blower device 93 is arranged on shaft furnace body 91 bottom, dynamic monitor include patrol device 1, carbon monoxide detector 21 and controller 3, and patrol device 1 includes patrol machine People 11, driving device (including driving motor and traveling wheel 26) and the track 12 being arranged on around shaft furnace body 91, carbon monoxide detector 21 On patrol robot 11, patrol robot 11 is run on the track 12 under the driving of driving device, carbon monoxide detector 21 The monitoring signals received around shaft furnace body 91 are sent to controller 3 in real time.

In the present embodiment, patrol device 1 goes on patrol device for the adjustable equation of light tracking formula in patrol track, and patrol track is perpendicular In closure loop wire around kiln body 91.It is specific as follows：Track 12 is made of track open-wire line 121 and track concealed wire 122, track open-wire line There is aberration between 121 and track concealed wire 122, the color of the color and surrounding enviroment of track open-wire line 121 and track concealed wire 122 is not Together, patrol robot 11 includes light sensation receiver, hunting module and guider, and the reception of light sensation receiver comes from track 12 Coloured light signal simultaneously feeds back to hunting module, and hunting module controls guider to realize that patrol robot 11 continues on the track 12 Movement.After hunting module is opened, light sensation receiver can be opened simultaneously receives coloured light signal, and guider is in the control of hunting module 11 direction of motion of patrol robot can be controlled under system, light sensation receiver is enable to receive always from track open-wire line 121 and track The light-sensing signal of concealed wire 122 so that patrol robot 11 is always held on the patrol track 12 of setting, is thus formed Patrol robot 11 does on predetermined track 12 the patrol campaign of path type, to realize that the dynamic to shaft furnace body 91 is supervised It surveys.Track open-wire line 121 can ensure that light sensation receiver exists always with the color of track concealed wire 122 and the color difference of surrounding enviroment Identical aberration is received, surrounding enviroment do not interfere with the work of light sensation receiver, it is ensured that the orderly operation of whole device.

As shown in figure 20, in the present embodiment, the track 12 around shaft furnace body 91 is by a spiral Duan Yuyi straightway structures Into spiral section surrounds shaft furnace body 91, and the both ends of spiral section are connected with straightway by the track 12 around shaft furnace body 91 Connect into a closure loop wire.In the present embodiment, patrol track can be adjusted according to actual demand, be this implementation as shown in figure 21 Another track-wise in example, the track 12 around shaft furnace body 91 is by multistage parallel to the parallel-segment and linkage section of shaft furnace body 91 It forms, parallel-segment is uniformly distributed in around shaft furnace body 91, and parallel-segment is connected the track 12 around shaft furnace body 91 by linkage section Loop wire is closed into one.In the present embodiment, the scheme shown in Figure 20 is preferred embodiment, and patrol robot 11 is run on the track 12 Shi Gengjia is steady, and the speed of service is more readily available control.In addition, for 12 arrangement of track of CO leakages in the present embodiment Can also be other forms, but quovis modo should make track 12 close to CO valve locations, at the first time as far as possible Know CO leakages have occurred.

In the present embodiment, the air hatch 211 of carbon monoxide detector 21 can be equipped with to prevent the protective cover for blocking air hatch 211 212 (as shown in figure 12), and the distance of carbon monoxide detector 21 and the shaft furnace body 91 is 100-150mm, carbon monoxide detector 21 perpendicular to Track 12 is installed upwards.

As shown in figure 22, in the present embodiment, patrol robot 11 is equipped with to prevent patrol robot 11 from track 12 On the magnet anti-derail unit 20 that comes off (if temperature being affected to patrol robot 11, can also add high temperature resistant heat insulation plate 25).Magnet anti-derail unit 20 can prevent patrol robot 11 from coming off from track 12.

As shown in figure 13, the present embodiment also provides a kind of monitoring method of the dynamic monitor of lime shaft kiln 9CO leakages, Comprise the following steps：

(1) mounted tracks 12 around the shaft furnace body 91 of lime shaft kiln 9, a patrol robot 11 is put on the track 12, And by a carbon monoxide detector 21 on patrol robot 11；

(2) under the driving of a driving device, the patrol robot 11 in orbit 12 for being equiped with carbon monoxide detector 21 continues Movement, and the speed of service of patrol robot 11 is controlled as 1-2m/min, and patrol robot 11 is controlled to pass through shaft furnace body 91 Valve location when speed it is automatically slack-off；

CO leak positions are equipped in the present embodiment, in controller 3 and prejudge system, CO leak positions anticipation system automatic measurement ＆ calculation The process of CO leak positions is as follows：The plectrum 6 of limit switch 5 is stirred by patrol robot 11, often stirs and once passes signal Controller 3 is given, controller 3 returns to zero the location information of patrol robot 11 after receiving signal, and controller 3 is according to patrol machine Monitoring signals are received in one circle of the operation of people 11 required time, the speed of service of patrol robot 11 and operational process Time automatic measurement ＆ calculation goes out the orbital position where when carbon monoxide detector 21 sends monitoring signals, and predicts shaft furnace body according to orbital position The generation position of 91CO leakages.After limit switch 5 is struck, limit switch 5 can inform 3 patrol robot 11 of controller The circle that is over (operation lap time stirs the time between limit switch 5 for plectrum 6 twice) is run, while controller 3 can incite somebody to action The position zeroing of patrol robot 11 after carbon monoxide detector 21 monitors CO leakages, is prejudged by the CO leak positions of controller 3 System can analyze CO leak positions.

Embodiment 4：

As shown in figure 23 and figure 24, the dynamic monitor that the 15 furnace roof furnace lining 151 of rotary hearth furnace of the present embodiment peels off, turns bottom Stove 15 includes the liner of resistance to material, and the liner of resistance to material includes furnace roof furnace lining 151 and side wall furnace lining 152, and dynamic monitor includes patrol and fills 1, temperature monitor 22 and controller 3 are put, patrol device 1 includes patrol robot 11, driving device (including driving motor and row Walk wheel 26) with being arranged on the track 12 on 151 top of furnace roof furnace lining, temperature monitor 22 is mounted on patrol robot 11, patrol Robot 11 is run on the track 12 under the driving of driving device, and temperature monitor 22 will receive on 151 top of furnace roof furnace lining Monitoring signals be sent to controller 3 in real time.

In the present embodiment, patrol device 1 goes on patrol device for the adjustable equation of light tracking formula in patrol track, and patrol track is in stove 151 top of furnace lining is pushed up in closure loop wire.It is specific as follows：Track 12 is made of track open-wire line 121 and track concealed wire 122, and track is bright There is aberration between line 121 and track concealed wire 122, the color of the color and surrounding enviroment of track open-wire line 121 and track concealed wire 122 is not Together, patrol robot 11 includes light sensation receiver, hunting module and guider, and the reception of light sensation receiver comes from track 12 Coloured light signal simultaneously feeds back to hunting module, and hunting module controls guider to realize that patrol robot 11 continues on the track 12 Movement.After hunting module is opened, light sensation receiver can be opened simultaneously receives coloured light signal, and guider is in the control of hunting module 11 direction of motion of patrol robot can be controlled under system, light sensation receiver is enable to receive always from track open-wire line 121 and track The light-sensing signal of concealed wire 122 so that patrol robot 11 is always held on the patrol track 12 of setting, is thus formed Patrol robot 11 does the patrol campaign of path type on predetermined track 12, to realize to 15 furnace roof furnace lining of rotary hearth furnace 151 dynamic monitoring.Track open-wire line 121 can ensure light sensation with the color of track concealed wire 122 and the color difference of surrounding enviroment Receiver is receiving identical aberration always, and surrounding enviroment do not interfere with the work of light sensation receiver, it is ensured that entire dress It is equipped with the operation of sequence.

In the present embodiment, the signal transmission between temperature monitor 22 and controller 3 is wireless transmission.Utilize wireless transmission The use of cable and cable sleeve can be greatly reduced, operating space can be saved, can also reduce operative employee stumble to cable sleeve and The hidden danger of wrestling.

As shown in figure 25, in the present embodiment, track 12 is by multiple " V " shape section tracks around the central axis annular of rotary hearth furnace 15 Array is closed loop wire into one.In the present embodiment, patrol track can be adjusted according to actual demand, as shown in Figure 26, Figure 27, For another two kinds of track-wises in the present embodiment.In Figure 26, the track of track 12 is gear-like, and the center of gear is in rotary hearth furnace On 15 central axis.In Figure 27, track 12 is made of multiple not closed concentric circular tracks, and multiple concentric circular tracks pass through Multiple connection tracks are interconnected to one and are closed loop wire (can not also be closed into " mosquito-repellent incense " shape), multiple not closed concentric circles Center on the central axis of rotary hearth furnace 15.In the present embodiment, scheme shown in Figure 27 is preferred embodiment, the rail in Figure 27 The bending of road 12 is few, and patrol robot 11 operationally needs not move through too many bending, operation more balance, smoothness.In addition, Figure 27 Shown in scheme in, track 12 arrange when it is also simpler, more fast.

In the present embodiment, the distance of temperature monitor 22 and 15 furnace roof of rotary hearth furnace is 50-100mm, and temperature monitor 22 It is installed downward perpendicular to 15 furnace roof of rotary hearth furnace.Since rotary hearth furnace 15 belongs to direct reducing kiln, internal temperature is without other such as stone Production temperature is high in the kiln of the stoves such as ash furnace, ignition furnace, so track 12 will strengthen the sensitivity of detection more close to furnace roof.

As shown in figure 28, in the present embodiment, the bottom of patrol robot 11 is equipped with high temperature resistant heat insulation plate 25.Although rotary hearth furnace 15 internal temperatures are high without producing temperature in other such as kiln in limekiln, ignition furnace stove, but the maximum temperature of furnace roof It is possible that reach 300 DEG C, so to set high temperature resistant heat insulation plate 25 on patrol robot 11.

As shown in figure 29, the present embodiment also provides the dynamic monitor that a kind of 15 furnace roof furnace lining 151 of rotary hearth furnace peels off Monitoring method comprises the following steps：

(1) in the 151 top mounted tracks 12 of furnace roof furnace lining of rotary hearth furnace 15, a patrol robot 11 is placed on track 12 On, and by a temperature monitor 22 on patrol robot 11；

(2) under the driving of a driving device, the patrol robot 11 in orbit 12 for being equiped with temperature monitor 22 is held Reforwarding is moved, and controls the speed of service of patrol robot 11 as 1-2m/min；

(3) above-mentioned temperature monitor 22 is opened, and the monitoring signals of the temperature monitor 22 is made to be sent to a control in real time Device 3 processed；

(4) when monitoring signals exception, controller 3 receive alarm and automatic measurement ＆ calculation furnace lining after abnormal signal peel off position into Row output.

In the present embodiment, when monitoring signals exception, controller 3 can be sent out after receiving abnormal signal to patrol robot 11 Go out the signal that stops operating, work to be operated is manually inputted to controller 3 after reforwarding after furnace lining peeling is handled by operative employee again Make signal, patrol robot 11 is further continued for operating.Certainly, controller 3 also can not send the letter that stops operating to patrol robot 11 Number, and running is to continue with for monitoring abnormal signal elsewhere, it can so ensure the continuity of monitoring.In addition, may be used also Selectivity alarm is installed on patrol robot 11, when occur furnace lining peel off alarm device can sound the alarm prompting operation Work.

Furnace lining is equipped in the present embodiment, in controller 3 and peels off position anticipation system, it is automatic that furnace lining peels off position anticipation system The process for calculating furnace lining peeling position is as follows：The plectrum 6 of limit switch 5 is stirred by patrol robot 11, once will often be stirred Signal sends controller 3 to, and controller 3 returns to zero the location information of patrol robot 11 after receiving signal, and controller 3 is according to patrolling It patrols in one circle of the operation of robot 11 required time, the speed of service of patrol robot 11 and operational process and receives monitoring The time automatic measurement ＆ calculation of signal goes out the orbital position where when temperature monitor 22 sends monitoring signals, and pre- according to orbital position Survey the generation position that the furnace roof furnace lining 151 of rotary hearth furnace 15 peels off.After limit switch 5 is struck, limit switch 5 can inform control 3 patrol robot 11 of device had run through a circle (operation lap time for plectrum 6 stir twice between limit switch 5 when Between), while controller 3 can return to zero the position of patrol robot 11, after temperature monitor 22 monitors that furnace lining peels off, pass through The furnace lining of controller 3, which peels off position anticipation system, can analyze furnace lining peeling position.

In the present embodiment, patrol robot 11 could be provided as uniform motion to ensure that furnace lining peels off position on the track 12 Anticipation system prejudges out the accuracy that furnace lining peels off position.

Embodiment 5：

As shown in Figure 30, Figure 31, the dynamic monitor of 10 furnace lining of the ceramic roller kiln peeling of the present embodiment, ceramic tunnel Kiln 10 includes kiln body 1001 and trolley 1003, and the both sides of kiln body 1001 are arranged with row's burner 1002, and kiln body 1001 includes Preheating section burns till section and cooling section, and dynamic monitor includes patrol device 1, temperature monitor 22 and controller 3, patrol dress Putting 1 includes patrol robot 11, driving device (including driving motor and traveling wheel 26) and the rail being arranged on around kiln body 1001 Road 12, temperature monitor 22 are mounted on patrol robot 11, and patrol robot 11 is under the driving of driving device in track 12 The monitoring signals received around kiln body 1001 are sent to controller 3 by upper operation, temperature monitor 22 in real time.

In the present embodiment, patrol device 1 goes on patrol device for the adjustable equation of light tracking formula in patrol track, and patrol track is in kiln In closure loop wire around body 1001.It is specific as follows：Track 12 is made of track open-wire line 121 and track concealed wire 122, track open-wire line There is aberration between 121 and track concealed wire 122, the color of the color and surrounding enviroment of track open-wire line 121 and track concealed wire 122 is not Together, patrol robot 11 includes light sensation receiver, hunting module and guider, and the reception of light sensation receiver comes from track 12 Coloured light signal simultaneously feeds back to hunting module, and hunting module controls guider to realize that patrol robot 11 continues on the track 12 Movement.After hunting module is opened, light sensation receiver can be opened simultaneously receives coloured light signal, and guider is in the control of hunting module 11 direction of motion of patrol robot can be controlled under system, light sensation receiver is enable to receive always from track open-wire line 121 and track The light-sensing signal of concealed wire 122 so that patrol robot 11 is always held on the patrol track 12 of setting, is thus formed Patrol robot 11 does on predetermined track 12 the patrol campaign of path type, and porcelain tunnel kiln body is moved with realizing State monitors.Track open-wire line 121 can ensure light sensation receiver one with the color of track concealed wire 122 and the color difference of surrounding enviroment Identical aberration directly is being received, surrounding enviroment do not interfere with the work of light sensation receiver, it is ensured that whole device is orderly Operation.

In the present embodiment, track 12 in preheating section, burn till section and cooling section there is different distribution densities, and track 12 exists Clinkering zone distribution density is maximum.Kiln body 1001 burns till the temperature highest of section, be also easiest to occur furnace lining peel off, and preheating section with it is cold But the temperature of section is relatively low, and the opposite section of burning till of the possibility that generation furnace lining peels off is lower, so needing burning till section setting more The track of crypto set.

As shown in figure 32, in the present embodiment, track 12 is by multiple segmental arcs positioned at 1001 surface of kiln body and for even The multiple linkage sections for connecing segmental arc are composed a closure loop wire, and the plane where each segmental arc is mutually parallel, burns Mouth 1002 is respectively positioned between the plane where segmental arc.In the present embodiment, patrol track can be adjusted according to actual demand, such as be schemed It is another track-wise in the present embodiment shown in 11.In Figure 33, track 12 is by being arranged on the straight lines of two rows of 1002 both sides of burner Section and for connect the linkage section of straightway be composed one closure loop wire.In the present embodiment, the shown scheme in Figure 33 For preferred embodiment, because the gradient smaller of Figure 33 middle orbits 12, the path of track 12 is shorter, and patrol robot 11 is substantially same It is run in one plane, operation is more steady, and required power smaller, is more conducive to energy saving.

As shown in figure 22, in the present embodiment, the bottom of patrol robot 11 is equipped with high temperature resistant heat insulation plate 25 and for preventing The magnet anti-derail unit 20 that patrol robot 11 comes off from track 12.Magnet anti-derail unit 20 can prevent patrol machine People 11 comes off from track 12.High temperature resistant heat insulation plate 25 can avoid the high temperature of kiln body 1001 from influencing patrol robot 11.

In the present embodiment, the distance of temperature monitor 22 and kiln body 1001 is 50-100mm, and temperature monitor 22 is vertical It is installed downwards in track 12.

As shown in figure 29, the present embodiment also provides a kind of monitoring of ceramic tunnel dynamic monitor that 10 kiln lining peels off Method comprises the following steps：

(1) patrol robot 11 is placed on track 12 by the mounted tracks 12 around the kiln body 1001 of ceramic roller kiln 10 On, and by a temperature monitor 22 on patrol robot 11；

(4) when the monitoring signals exception, controller 3 receives alarm and automatic measurement ＆ calculation furnace lining peeling position after abnormal signal It puts and is exported.

Furnace lining is equipped in the present embodiment, in controller 3 and peels off position anticipation system, it is automatic that furnace lining peels off position anticipation system The process for calculating furnace lining peeling position is as follows：The plectrum 6 of limit switch 5 is stirred by patrol robot 11, once will often be stirred Signal sends controller 3 to, and controller 3 returns to zero the location information of patrol robot 11 after receiving signal, and controller 3 is according to patrolling It patrols in one circle of the operation of robot 11 required time, the speed of service of patrol robot 11 and operational process and receives monitoring The time automatic measurement ＆ calculation of signal goes out the orbital position where when temperature monitor 22 sends monitoring signals, and pre- according to orbital position Survey the generation position that 10 furnace lining of ceramic roller kiln peels off.After limit switch 5 is struck, limit switch 5 can inform that controller 3 patrols It patrols robot 11 and has had run through a circle (operation lap time stirs the time between limit switch 5 for plectrum 6 twice), together When controller 3 position of patrol robot 11 can be returned to zero, after temperature monitor 22 monitors that furnace lining peels off, pass through controller 3 furnace lining, which peels off position anticipation system, can analyze furnace lining peeling position.

Embodiment 6：

As shown in Figure 14, Figure 15, the dynamic monitor of 7 furnace lining of the rotary kiln peeling of the present embodiment, rotary kiln 7 includes kiln The driving device that body 71, the burner apparatus for 71 heat supply of kiln body and drive kiln body 71 rotate, burner apparatus include center and burn Mouth 72 and the valve group platform 73 for providing fuel to central burner 72.Dynamic monitor includes patrol device 1, temperature detection Instrument 22 and controller 3, patrol device 1 include patrol robot 11, driving device (including driving motor and traveling wheel 26) with setting The track 12 around kiln body 71 is put, temperature monitor 22 is mounted on patrol robot 11, and patrol robot 11 is filled in driving It is run on the track 12 under the driving put, the monitoring signals received around kiln body 71 are sent to control by temperature monitor 22 in real time Device 3 processed.

In the present embodiment, patrol device 1 goes on patrol device for the adjustable equation of light tracking formula in patrol track, and patrol track is in kiln In closure loop wire around body 71.It is specific as follows：Track 12 is made of track open-wire line 121 and track concealed wire 122, track open-wire line 121 There is aberration between track concealed wire 122, track open-wire line 121 is different from the color of track concealed wire 122 and the color of surrounding enviroment, patrols Patrolling robot 11 includes light sensation receiver, hunting module and guider, and light sensation receiver receives the coloured light for coming from track 12 Signal simultaneously feeds back to hunting module, and hunting module controls guider to realize that patrol robot 11 continues to transport on the track 12 It is dynamic.After hunting module is opened, light sensation receiver can be opened simultaneously receives coloured light signal, and guider is in the control of hunting module Under can control 11 direction of motion of patrol robot, enable light sensation receiver receive always from track open-wire line 121 and track it is dark The light-sensing signal of line 122, so that patrol robot 11 is always held on the patrol track 12 of setting, material is thus formed Patrol robot 11 does the patrol campaign of path type on predetermined track 12, to realize to the dynamic of the kiln body 71 of rotary kiln 7 State monitors.Track open-wire line 121 can ensure light sensation receiver one with the color of track concealed wire 122 and the color difference of surrounding enviroment Identical aberration directly is being received, surrounding enviroment do not interfere with the work of light sensation receiver, it is ensured that whole device is orderly Operation.

In the present embodiment, distance of the temperature monitor 22 apart from kiln body 71 be 50-100mm, temperature monitor 22 perpendicular to Track 12 is installed downwards.Hot gas is usually up to emit from below to up, and when furnace lining peels off monitoring, temperature monitor 22 will pacify downward Dress.

As shown in figure 34, in the present embodiment, the track 12 around kiln body 71 is made of a spiral section and a straightway, spiral For section around kiln body 71, the both ends of spiral section are connected with straightway connects into a closure loop wire by the track 12 around kiln body 71.This In embodiment, patrol track can be adjusted according to actual demand, be another track side in the present embodiment as shown in figure 35 Formula, the track 12 around kiln body 71 are made of parallel-segment of the multistage parallel to kiln body 71 with linkage section, and parallel-segment is uniformly distributed in Around kiln body 71, the track 12 around kiln body 71 is connected into a closure loop wire by parallel-segment by linkage section.

As shown in figure 22, in the present embodiment, the bottom of patrol robot 11 is equipped with high temperature resistant heat insulation plate 25 and for preventing The magnet anti-derail unit 20 that patrol robot 11 comes off from track 12.Anti-derail unit 20 can prevent patrol robot 11 It comes off from track 12.In addition, rotary kiln body surface temperature higher (up to 350 DEG C) is, it is necessary to add high temperature resistant heat insulation plate 25.

As shown in figure 29, the present embodiment also provides a kind of prison for the dynamic monitor that 7 kiln body of rotary kiln, 71 furnace lining peels off Survey method, comprises the following steps：

(1) mounted tracks 12 around 7 kiln body 71 of rotary kiln, a patrol robot 11 is put on the track 12, and will One temperature monitor 22 is on patrol robot 11；

(2) under the driving of a driving device, the patrol robot 11 in orbit 12 for being equiped with temperature monitor 22 is held Reforwarding is moved, and controls the speed of service of the patrol robot 11 as 1-2m/min；

In the present embodiment, when monitoring signals exception, controller 3 can be sent out after receiving abnormal signal to patrol robot 11 Go out the signal that stops operating, work to be operated is manually inputted to controller 3 after reforwarding after furnace lining peeling is handled by operative employee again Make signal, patrol robot 11 is further continued for operating.Certainly, controller 3 also can not send the letter that stops operating to patrol robot 11 Number, and running is to continue with for monitoring abnormal signal elsewhere, it can so ensure the continuity of monitoring.In addition, may be used also Selectivity alarm is installed on patrol robot, when occur furnace lining peel off alarm device can sound the alarm prompting operation Work.

Furnace lining is equipped in the present embodiment, in controller 3 and peels off position anticipation system, it is automatic that furnace lining peels off position anticipation system The process for calculating furnace lining peeling position is as follows：The plectrum 6 of limit switch 5 is stirred by patrol robot 11, once will often be stirred Signal sends controller 3 to, and controller 3 returns to zero the location information of patrol robot 11 after receiving signal, and controller 3 is according to patrolling It patrols in one circle of the operation of robot 11 required time, the speed of service of patrol robot 11 and operational process and receives monitoring The time automatic measurement ＆ calculation of signal goes out the orbital position where when temperature monitor 22 sends monitoring signals, and pre- according to orbital position The generation position that 7 furnace lining of survey time rotary kiln peels off.After limit switch 5 is struck, limit switch 5 can inform 3 patrol plane of controller Device people 11 has had run through a circle (operation lap time stirs the time between limit switch 5 for plectrum 6 twice), same to time control Device 3 processed can return to zero the position of patrol robot 11, after temperature monitor 22 monitors that furnace lining peels off, pass through controller 3 Furnace lining, which peels off position anticipation system, can analyze furnace lining peeling position.

Embodiment 7：

As shown in figure 19, the dynamic monitor that 9 furnace lining of lime shaft kiln of the present embodiment peels off, lime shaft kiln 9 include perpendicular Kiln body 91, feeding device 92 and blower device 93, feeding device 92 are arranged on the top of shaft furnace body 91, and blower device 93 is arranged on shaft furnace The bottom of body 91, dynamic monitor include patrol device 1, temperature monitor 22 and controller 3, and patrol device 1 includes patrol Robot 11, driving device (including driving motor and traveling wheel 26) and the track 12 being arranged on around shaft furnace body 91, temperature inspection It surveys instrument 22 to be mounted on patrol robot 11, patrol robot 11 is run on the track 12 under the driving of driving device, temperature The monitoring signals received around shaft furnace body 91 are sent to controller 3 by detector 22 in real time.

As shown in figure 36, in the present embodiment, the track 12 around shaft furnace body 91 is by a spiral Duan Yuyi straightway structures Into spiral section surrounds shaft furnace body 91, and the both ends of spiral section are connected with straightway by the track 12 around shaft furnace body 91 Connect into a closure loop wire.In the present embodiment, patrol track can be adjusted according to actual demand, be this implementation as shown in figure 37 Another track-wise in example, the track 12 around shaft furnace body 91 is by multistage parallel to the parallel-segment and linkage section of shaft furnace body 91 It forms, parallel-segment is uniformly distributed in around shaft furnace body 91, and parallel-segment is connected the track 12 around shaft furnace body 91 by linkage section Loop wire is closed into one.In the present embodiment, the scheme shown in Figure 36 is preferred embodiment, and patrol robot 11 is run on the track 12 Shi Gengjia is steady, and the speed of service is more readily available control.

In the present embodiment, the distance of temperature monitor 22 and shaft furnace body 91 is 50-100mm, temperature monitor 22 perpendicular to Track 12 is installed downwards.Hot gas is usually up to emit from below to up, and when furnace lining peels off monitoring, temperature monitor 22 will pacify downward Dress.

As shown in figure 22, in the present embodiment, the bottom of patrol robot 11 is equipped with high temperature resistant heat insulation plate 25 and for preventing The magnet anti-derail unit 20 that patrol robot 11 comes off from track 12.Magnet anti-derail unit 20 can prevent patrol machine People 11 comes off from track 12.High temperature resistant heat insulation plate 25 can avoid the high temperature of shaft furnace body 91 from influencing patrol robot 11.

As shown in figure 29, the present embodiment also provides a kind of monitoring side for the dynamic monitor that 9 furnace lining of lime shaft kiln peels off Method comprises the following steps：

(1) mounted tracks 12 around the shaft furnace body 91 of lime shaft kiln 9, a patrol robot 11 is put on the track 12, And by a temperature monitor 22 on patrol robot 11；

Furnace lining is equipped in the present embodiment, in controller 3 and peels off position anticipation system, it is automatic that furnace lining peels off position anticipation system The process for calculating furnace lining peeling position is as follows：The plectrum 6 of limit switch 5 is stirred by patrol robot 11, once will often be stirred Signal sends controller 3 to, and controller 3 returns to zero the location information of patrol robot 11 after receiving signal, and controller 3 is according to patrolling It patrols in one circle of the operation of robot 11 required time, the speed of service of patrol robot 11 and operational process and receives monitoring The time automatic measurement ＆ calculation of signal goes out the orbital position where when temperature monitor 22 sends monitoring signals, and pre- according to orbital position Survey the generation position that 91 furnace lining of shaft furnace body peels off.After limit switch 5 is struck, limit switch 5 can inform 3 patrol plane of controller Device people 11 has had run through a circle (operation lap time stirs the time between limit switch 5 for plectrum 6 twice), same to time control Device 3 processed can return to zero the position of patrol robot 11, after temperature monitor 22 monitors that furnace lining peels off, pass through controller 3 Furnace lining, which peels off position anticipation system, can analyze furnace lining peeling position.

Claims

1. a kind of dynamic monitor of industrial equipment dangerous situation, which is characterized in that including patrol device (1), detector and control Device (3), the patrol device (1) includes patrol robot (11), driving device is waited to supervise with being arranged on the industrial equipment dangerous situation Location puts the track (12) at place, and the detector is mounted on patrol robot (11), and the patrol robot (11) is driving It is run under the driving of device on track (12), the detector transmits the monitoring signals received at position to be monitored in real time To controller (3).

2. the dynamic monitor of industrial equipment dangerous situation according to claim 1, which is characterized in that the patrol device (1) device is gone on patrol for the adjustable equation of light tracking formula in patrol track, the patrol track is in be closed loop wire at position to be monitored.

3. the dynamic monitor of industrial equipment dangerous situation according to claim 2, which is characterized in that the track (12) by Track open-wire line (121) is formed with track concealed wire (122), has aberration between the track open-wire line (121) and track concealed wire (122), The track open-wire line (121) is different with the color of surrounding enviroment from the color of track concealed wire (122), the patrol robot (11) Including light sensation receiver, hunting module and guider, the light sensation receiver reception comes from the coloured light signal of track (12) And hunting module is fed back to, the hunting module controls guider to realize that patrol robot (11) continues on track (12) Movement.

4. the dynamic monitor of industrial equipment dangerous situation according to any one of claim 1-3, which is characterized in that described Track (12) is equipped with limit switch (5), and the patrol robot (11) is equipped with to stir dialling for the limit switch (5) Piece (6), the limit switch (5) automatically reset after being struck.

5. a kind of dynamic monitoring method of industrial equipment dangerous situation, which is characterized in that comprise the following steps：

(1) patrol robot (11) is placed on track (12) by the mounted tracks (12) at industrial equipment dangerous situation position to be monitored On, and by a detector on patrol robot (11)；

(2) under the driving of a driving device, the patrol robot (11) (12) in orbit for being equiped with the detector continues Movement；

(3) above-mentioned detector is opened, and the monitoring signals of the detector is made to be sent to a controller (3) in real time；

(4) when the monitoring signals exception, the controller (3) receives alarm and automatic measurement ＆ calculation dangerous situation position after abnormal signal It is exported.

6. dynamic monitoring method according to claim 5, which is characterized in that described to patrol when the monitoring signals exception Robot (11) automatic whistling is patrolled, the controller (3) sends after receiving abnormal signal to the patrol robot (11) automatically Stop actuating signal.

7. dynamic monitoring method according to claim 5 or 6, which is characterized in that the track (12) is opened equipped with /V It closes (5), the patrol robot (11) is equipped with to stir the plectrum (6) of the limit switch (5), the limit switch (5) automatically reset after being struck.

8. dynamic monitoring method according to claim 7, which is characterized in that dangerous situation position is equipped in the controller (3) Anticipation system, the process of the dangerous situation position anticipation system automatic measurement ＆ calculation dangerous situation position are as follows：It is dialled by patrol robot (11) The plectrum (6) of the limit switch (5) is moved, often stirs and once transmits a signal to the controller (3), the controller (3) The location information of patrol robot (11) is returned to zero after receiving signal, the controller (3) is according to the patrol robot (11) Received in one circle required time of operation, the speed of service of patrol robot (11) and operational process monitoring signals when Between automatic measurement ＆ calculation go out orbital position where when the detector sends monitoring signals, and industrial equipment is predicted according to orbital position The generation position of dangerous situation.

9. dynamic monitoring method according to claim 8, which is characterized in that the patrol robot (11) is in track (12) Upper uniform motion.