CN208297008U

CN208297008U - A kind of dynamic monitor of industrial equipment dangerous situation

Info

Publication number: CN208297008U
Application number: CN201820178970.4U
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: 2018-12-28
Anticipated expiration: 2028-02-01

Abstract

The utility model 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 drive of the drive, the detector will at position to be monitored received monitoring signals real-time transmission to controller.The monitoring range of the utility model dynamic monitor 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 of industrial equipment dangerous situation

Technical field

The utility model belongs to dangerous situation monitoring field more particularly to a kind of monitoring device of industrial equipment dangerous situation.

Background technique

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 will test instrument by signal cable, power Cable etc. is connected with Central Control Room, and detector is by the relevant parameter of real-time watch device when production, once the safety value beyond setting Ring alarming horn and alarm signal will be sent to Central Control Room, announcement operations works are far from there may be the equipment of dangerous situation.

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

1, monitoring range is small: for the prior art generally in some point setting detector of equipment, this method can only monitor work The relevant parameter of industry equipment very small part area, monitoring range is very small, is unable to respond true situation, can reduce industry The safety coefficient of equipment brings very big hidden danger to the personal safety of operative employee.But if being set at multiple of industrial equipment Detector is set, then it is excessively high to will cause cost again, and industrial equipment operating space can be greatly decreased.

2, occupy the operating space of industrial equipment: 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 tripped to form production accident by cable jacket steel pipe.

3, can not prejudge dangerous situation position: under the prior art, when detector test is to 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.

Utility model content

Technical problem to be solved in the utility model is to overcome the shortcomings of to mention in background above technology and defect, is provided Monitoring range is big, occupies little space, the dynamic monitor for the industrial equipment dangerous situation that operating quantity is small.It is asked to solve above-mentioned technology Topic, the utility model proposes technical solution are as follows:

A kind of dynamic monitor of industrial equipment dangerous situation, including patrol device, detector and controller, the patrol dress It sets 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 drive of the drive, the detector Will at position to be monitored received monitoring signals real-time transmission to controller.

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 that cable and cable sleeve can be greatly reduced using wireless transmission, can save operating space, 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 is that patrol track is adjustable Equation of light tracking formula go on patrol device, the patrol track at position to be monitored in be closed loop wire.It is gone on patrol with equation of light tracking formula The position of device, track can greatly increase in the utility model and fill by operative employee according to any adjustment of needs for monitoring position Set the flexibility used, it is ensured that the device in the utility model is suitable for different occasions, can be with the use of expansion instrument Range.

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 constitutes, there is color difference, 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 guiding device, and the light sensation receiver receives From track coloured light signal and feed back to hunting module, hunting module control guiding device is 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 guiding device exists The patrol robot direction of motion can be controlled under the control of hunting module, and light sensation receiver is enable to receive always from track open-wire line It is thus formed with the light-sensing signal of track concealed wire so that patrol robot is always held on the patrol track of setting Patrol robot does the patrol campaign of path type on scheduled track, to realize the dynamic monitoring to industrial equipment.Rail It is identical that road open-wire line with the color of track concealed wire and the color difference of surrounding enviroment can guarantee that light sensation receiver is receiving always Color difference, 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 Robot is patrolled equipped with the plectrum for stirring the limit switch, the limit switch automatically resets after being struck.Limit 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, after detector monitors dangerous situation, can analyze dangerous situation position by controller It sets.

The utility model also provides a kind of dynamic monitoring method of industrial equipment dangerous situation, comprising the 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 installed with the patrol robot persistent movement in orbit of the detector；

(3) above-mentioned detector is opened, and makes the monitoring signals real-time transmission of the detector to a controller；

(4) when the monitoring signals exception, the controller receives alarm and automatic measurement & calculation dangerous situation position after abnormal signal It sets 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 issues stopping action signal to the patrol robot automatically.When monitoring signals exception, Patrol robot stopping movement 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, handle dangerous situation 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 be equipped with dangerous situation position in the controller and prejudge system, the dangerous situation position is pre- The process for sentencing system automatic measurement & calculation dangerous situation position is as follows: stirring the plectrum of the limit switch by patrol robot, often stirs The controller is once transmitted a signal to, the controller returns to zero the location information of patrol robot after receiving signal, institute It states the speed of service of time, patrol robot required for controller is enclosed according to patrol robot operation one and ran The time automatic measurement & calculation that monitoring signals are received in journey goes out orbital position where when the detector issues 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 the prior art, the advantages of the utility model are:

1, monitoring range is big: detector is as patrol robot incessantly move in orbit by circulation in the utility model Dynamic, monitoring range can be covered 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 It surveys instrument to capture, the safety coefficient of production can be greatly improved.

2, it is small to occupy operating space: the utility model patrol device can reduce greatly dress without using cable and cable sleeve The operating space for setting occupancy also reduces operative employee and stumbles the hidden danger tumbled to cable sleeve.

3, the utility model monitoring method is easy, and monitoring efficiency is high, and a wide range of dangerous situation can be realized using simple device Monitoring, only use a detector during entire monitoring, it is low in cost, can be widely applied to the various industry for needing to monitor Equipment has a vast market foreground.

Detailed description of the invention

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is this Some embodiments of utility model, for those of ordinary skill in the art, without creative efforts, also Other drawings may be obtained according to these drawings without any creative labor.

Fig. 1 is the structural schematic diagram of agglomerating plant in the utility model embodiment 1.

Fig. 2 is the structural schematic diagram of ignition furnace in the utility model embodiment 1.

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

Fig. 4 is the structural schematic diagram that ignition furnace furnace roof dynamic goes on patrol device in the utility model embodiment 1.

Fig. 5 is another structural schematic diagram that ignition furnace furnace roof dynamic goes on patrol device in the utility model embodiment 1.

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

Fig. 7 is that dynamic goes on patrol the structural schematic diagram of device at the top of combustion gas blow in the utility model embodiment 1.

Fig. 8 is that dynamic goes on patrol another structural schematic diagram of device at the top of combustion gas blow in the utility model embodiment 1.

Fig. 9 is that dynamic goes on patrol another structural schematic diagram of device at the top of combustion gas blow in the utility model embodiment 1.

Figure 10 is the structure that ignition furnace furnace roof and combustion gas blow top dynamic go on patrol device in the utility model embodiment 1 Schematic diagram.

Figure 11 is dynamically to go on patrol the another of device at the top of ignition furnace furnace roof and combustion gas blow in the utility model embodiment 1 Kind structural schematic diagram.

Figure 12 is carbon monoxide detector structural schematic diagram in the utility model embodiment 1.

Figure 13 is the working principle flow chart that CO leaks dynamic monitoring in the utility model.

Figure 14 is the structural schematic diagram of rotary kiln in the utility model embodiment 2.

Figure 15 is the top view of Figure 14.

Figure 16 is the structural schematic diagram that rotary kiln valve group platform dynamic goes on patrol device in the utility model embodiment 2.

Figure 17 is another structural representation that rotary kiln valve group platform dynamic goes on patrol device in the utility model embodiment 2 Figure.

Figure 18 is another structural representation that rotary kiln valve group platform dynamic goes on patrol device in the utility model embodiment 2 Figure.

Figure 19 is the structural schematic diagram of lime shaft kiln in the utility model embodiment 3.

Figure 20 is the structural schematic diagram that shaft furnace body CO leakage dynamic goes on patrol device in the utility model embodiment 3.

Figure 21 is another structural schematic diagram that shaft furnace body CO leakage dynamic goes on patrol device in the utility model embodiment 3.

Figure 22 is the structural schematic diagram of patrol robot in the utility model.

Figure 23 is the top view of rotary hearth furnace in the utility model embodiment 4.

Figure 24 is the face C-C Section View in Figure 23.

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

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

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

Figure 28 is the structural schematic diagram of patrol robot in the utility model embodiment 4.

Figure 29 is the working principle flow chart that furnace lining peels off dynamic monitoring in the utility model.

Figure 30 is the structural schematic diagram of ceramic roller kiln in the utility model embodiment 5.

Figure 31 is the face A-A Section View in Figure 30.

Figure 32 is dynamically to go on patrol the scheme of installation of device in the utility model embodiment 5 (kiln is as the face B-B in Figure 31 Expanded view).

Figure 33 is dynamically to go on patrol another scheme of installation of device in the utility model embodiment 5 (kiln is as in Figure 31 The expanded view in the face B-B).

Figure 34 is the structural schematic diagram that device is dynamically gone on patrol in the utility model embodiment 6.

Figure 35 is another structural schematic diagram that device is dynamically gone on patrol in the utility model embodiment 6.

Figure 36 is the structural schematic diagram that device is dynamically gone on patrol in the utility model embodiment 7.

Figure 37 is that furnace lining peels off another structural schematic diagram that dynamic goes on patrol device in the utility model embodiment 7.

Marginal data:

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

Specific embodiment

For the ease of understanding the utility model, below in conjunction with Figure of description and preferred embodiment to the utility model Work more comprehensively, meticulously describes, but the protection scope of the utility model 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, and being not intended to limitation, this is practical Novel protection scope.

Unless otherwise specified, various raw material, reagent, the instrument and equipment etc. used in the utility model can lead to Market is crossed to be 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 leakage of the present embodiment, agglomerating plant includes a little Stove 4, combustion gas blowing device 8 and agglomerating plant trolley 14, ignition furnace 4 include that two rows of igniter burners 41 and a row keep the temperature burner 42, combustion gas blowing device 8 includes combustion gas blow 81 and combustion gas injection tube road 82.Dynamic monitor be at least arranged 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 Set (including driving motor and traveling wheel 26) and be arranged in 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 drive of the drive, CO Detector 21 will be in the received monitoring signals real-time transmission of 4 furnace roof of ignition furnace and/or the top of combustion gas blow 81 to controller 3.

In the present embodiment, patrol device 1 is that the adjustable equation of light tracking formula in patrol track goes on patrol device, goes on patrol track in point In closure loop wire at the top of 4 furnace roof of stove and/or combustion gas blow 81.Specific as follows: track 12 is dark by track open-wire line 121 and track Line 122 is constituted, and has color difference 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 guiding device, and light sensation receiver connects It receives the coloured light signal from track 12 and feeds back to hunting module, hunting module controls guiding device 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, guiding dress 11 direction of motion of patrol robot can be controlled under the control of hunting module by setting, 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, material is thus formed patrol robots 11 to do the patrol campaign of path type on scheduled track 12, to realize to point The dynamic monitoring at 81 top of 4 furnace roof of stove and/or combustion gas blow.The color and periphery of track open-wire line 121 and track concealed wire 122 The color difference of environment can guarantee that light sensation receiver is receiving always identical color difference, 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 for stirring limit switch 5 Plectrum 6, limit switch 5 automatically resets after being struck.

In the present embodiment, the signal between carbon monoxide detector 21 and controller 3 is transmitted as being wirelessly transferred.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 mutually indepedent.Ignition furnace 4 furnace roof track, 12 deployment scenarios are as follows: as shown in figure 4, being this implementation One of example track-wise, the track of the track 12 of 4 furnace roof of ignition furnace are four side 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 adjust according to actual needs.As shown in figure 5, the track of the track 12 of 4 furnace roof of ignition furnace is one Concave, two rows of igniter burners 41 and a row keep the temperature burner 42 and are located at plane where four vertical edges of the concave Between three sections of spaces in.In the present embodiment, scheme shown in fig. 5 is preferred embodiment, because concave track can guarantee Track 12 is closer from igniter burner 41, heat preservation burner 42, and when there is CO leakage, carbon monoxide detector 21 can monitor to leak at the first time Situation facilitates maintenance personal's processing CO leakage 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 adjust according to actual needs, 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 be 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 is not being closed with realizing and so on so that patrol robot 11 is walked back along S type track again Close continuous service on track 12.

In the present embodiment, when dynamic monitor is only arranged a set of, the track 12 and gas injection of 4 furnace roof of ignition furnace at this time The track 12 for blowing 81 top of cover can be interconnected to closure loop wire or not be closed.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 being located between 81 top of 4 furnace roof of ignition furnace and combustion gas blow.Such as Shown in Figure 11, at 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 needs, 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, carbon monoxide detector 21 is 100-150mm, carbon monoxide detector 21 and combustion gas at a distance from 4 furnace roof of ignition furnace 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 the shield 212 (as shown in figure 12) for preventing 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 leakage, The following steps are included:

(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 installed with carbon monoxide detector 21 continues Movement, and the speed of service for controlling patrol robot 11 is as follows: when patrol robot 11 controls it when 4 furnace roof of ignition furnace is run Speed is 1-2m/min, and it is 0.5-1m/min that its speed is controlled when patrol robot 11 is run at the top of combustion gas blow 81, And it is automatically slack-off to control speed of the patrol robot 11 when by 81 top valve location of combustion gas blow；

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

(4) when monitoring signals exception, controller 3 receives alarm and the progress of the leak position automatic measurement & calculation CO 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 Stop operating signal out, manually continues to operate to the input of controller 3 by operative employee again after CO leakage is disposed by operative employee Signal, patrol robot 11 are further continued for operating.Certainly, controller 3 can not also issue the signal that stops operating to patrol robot 11, And running is to continue with for monitoring abnormal signal elsewhere, it can guarantee the continuity of monitoring in this way.In addition, also may be selected Property alarm is installed on patrol robot, can sound the alarm when there is CO leakage alarm device and remind operative employee.

It is equipped with the leak position CO in the present embodiment, in controller 3 and prejudges system, the leak position CO prejudges system automatic measurement & calculation The process of the leak position CO is as follows: stirring the plectrum 6 of limit switch 5 by patrol robot 11, often stirs and once pass 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 time, the speed of service of patrol robot 11 and operational process required for the operation of people 11 one is enclosed Time automatic measurement & calculation go out carbon monoxide detector 21 issue monitoring signals when where orbital position, and according to orbital position predict ignition furnace The generation position of 4 furnace roofs and/or 81 top CO of combustion gas blow leakage.After limit switch 5 is struck, limit switch 5 can be accused Know 3 patrol robot 11 of controller had run through one circle (operation lap time be 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 leakage, lead to The leak position the CO anticipation system for crossing controller 3 can analyze the leak position CO.

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, low in cost, has a vast market foreground.

Embodiment 2:

As shown in Figure 14, Figure 15, the dynamic monitor of 7 valve group platform 73CO of the rotary kiln leakage 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 packet Include central burner 72 and for providing the valve group platform 73 of 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 the track 12 on 73 top of valve group platform is arranged in, carbon monoxide detector 21 is mounted on patrol robot 11, patrol robot 11 It runs on the track 12 under the drive of the drive, carbon monoxide detector 21 will be real in the received monitoring signals in 73 top of valve group platform When be sent to controller 3.

In the present embodiment, patrol device 1 is that the adjustable equation of light tracking formula in patrol track goes on patrol device, goes on patrol track in valve 73 top of group platform is in closure loop wire.Specific as follows: track 12 is made of track open-wire line 121 and track concealed wire 122, track open-wire line There is color difference 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 guiding device, and light sensation receiver is received from track 12 Coloured light signal simultaneously feeds back to hunting module, and hunting module controls guiding device 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, control of the guiding device in 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 is thus formed so that patrol robot 11 is always held on the patrol track 12 of setting Patrol robot 11 does on scheduled 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 guarantee 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 color difference 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 adjust according to actual needs.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 leakage, it should keep track 12 most May more than close valve, can be with exact knowledge leakage point when leaking and occurring, scheme shown in Figure 18 is preferred square In case, in this scheme, track 12 is more conducive to monitoring CO leakage closer to valve.

As shown in figure 12, in the present embodiment, the air hatch 211 of carbon monoxide detector 21 is equipped with for preventing blocking air hatch 211 Shield 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 leakage, packet 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 installed with carbon monoxide detector 21 continues Movement, and the speed of service for controlling patrol robot 11 is 1-2m/min, and controls patrol robot 11 and passing through valve group platform Speed when 73 valve location is automatically slack-off；

It is equipped with the leak position CO in the present embodiment, in controller 3 and prejudges system, the leak position CO prejudges system automatic measurement & calculation The process of the leak position CO is as follows: stirring the plectrum 6 of limit switch 5 by patrol robot 11, often stirs and once pass 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 time, the speed of service of patrol robot 11 and operational process required for the operation of people 11 one is enclosed Time automatic measurement & calculation go out carbon monoxide detector 21 issue monitoring signals when where orbital position, and according to orbital position predict rotary kiln The generation position of 7 valve group platform 73CO leakage.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 leakage, be let out by the CO of controller 3 Anticipation system in leakage position can analyze the leak position CO.

Embodiment 3:

As shown in figure 19, the dynamic monitor of the lime shaft kiln 9CO leakage of the present embodiment, lime shaft kiln 9 include shaft furnace Body 91, feeding device 92 and blower device 93, feeding device 92 are set to the top of shaft furnace body 91, and blower device 93 is set to 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 in around shaft furnace body 91, carbon monoxide detector 21 It is mounted on patrol robot 11, patrol robot 11 is run on the track 12 under the drive of the drive, carbon monoxide detector 21 Will around shaft furnace body 91 received monitoring signals real-time transmission to controller 3.

In the present embodiment, patrol device 1 is that the adjustable equation of light tracking formula in patrol track goes on patrol device, and patrol track is perpendicular In closure loop wire around kiln body 91.Specific as follows: track 12 is made of track open-wire line 121 and track concealed wire 122, track open-wire line There is color difference 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 guiding device, and light sensation receiver is received from track 12 Coloured light signal simultaneously feeds back to hunting module, and hunting module controls guiding device 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, control of the guiding device in 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 is thus formed so that patrol robot 11 is always held on the patrol track 12 of setting Patrol robot 11 does on scheduled track 12 the patrol campaign of path type, to realize that the dynamic to shaft furnace body 91 is supervised It surveys.The color difference of the color and surrounding enviroment of track open-wire line 121 and track concealed wire 122 can guarantee that light sensation receiver exists always Identical color difference 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 structure At spiral section surrounds shaft furnace body 91, and the both ends of spiral section are connect the track 12 around shaft furnace body 91 with straightway Connect into a closure loop wire.In the present embodiment, patrol track can adjust according to actual needs, be this implementation as shown in figure 21 Another track-wise in example, the track 12 around shaft furnace body 91 are parallel to the parallel-segment and linkage section of shaft furnace body 91 by multistage It constitutes, 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 At a closure loop wire.In the present embodiment, 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, 12 arrangement of track in the present embodiment for CO leakage It can also be other forms, but quovis modo should make track 12 close to CO valve location, as far as possible at the first time Know that CO leakage has occurred.

In the present embodiment, the air hatch 211 of carbon monoxide detector 21 can be equipped with the shield for preventing blocking air hatch 211 212 (as shown in figure 12), and carbon monoxide detector 21 at a distance from the shaft furnace body 91 be 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 for preventing patrol robot 11 from track 12 On the magnet anti-derail unit 20 that falls 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 falling 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 leakage, The following steps are included:

(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 installed with carbon monoxide detector 21 continues Movement, and the speed of service for controlling patrol robot 11 is 1-2m/min, and controls patrol robot 11 and passing through shaft furnace body 91 Valve location when speed it is automatically slack-off；

It is equipped with the leak position CO in the present embodiment, in controller 3 and prejudges system, the leak position CO prejudges system automatic measurement & calculation The process of the leak position CO is as follows: stirring the plectrum 6 of limit switch 5 by patrol robot 11, often stirs and once pass 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 time, the speed of service of patrol robot 11 and operational process required for the operation of people 11 one is enclosed Time automatic measurement & calculation go out carbon monoxide detector 21 issue monitoring signals when where orbital position, and according to orbital position predict shaft furnace body The generation position of 91CO leakage.After limit switch 5 is struck, limit switch 5 can inform 3 patrol robot 11 of controller Operation is over a circle (operation lap time stirs the time between limit switch 5 for plectrum 6 twice), while controller 3 can incite somebody to action The position of patrol robot 11 is returned to zero, and after carbon monoxide detector 21 monitors CO leakage, is prejudged by the leak position CO of controller 3 System can analyze the leak position CO.

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 Furnace 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 dress Set 1, temperature monitor 22 and controller 3, patrol device 1 includes patrol robot 11, driving device (including driving motor and row Walk wheel 26) with the track 12 on 151 top of furnace roof furnace lining is set, temperature monitor 22 is mounted on patrol robot 11, is gone on patrol Robot 11 is run on the track 12 under the drive of the drive, and temperature monitor 22 will receive on 151 top of furnace roof furnace lining Monitoring signals real-time transmission to controller 3.

In the present embodiment, patrol device 1 is that the adjustable equation of light tracking formula in patrol track goes on patrol device, goes on patrol track in furnace 151 top of furnace lining is pushed up in closure loop wire.Specific as follows: track 12 is made of track open-wire line 121 and track concealed wire 122, and track is bright There is color difference 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 guiding device, and light sensation receiver is received from track 12 Coloured light signal simultaneously feeds back to hunting module, and hunting module controls guiding device 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, control of the guiding device in 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 is thus formed so that patrol robot 11 is always held on the patrol track 12 of setting Patrol robot 11 does the patrol campaign of path type on scheduled track 12, to realize to 15 furnace roof furnace lining of rotary hearth furnace 151 dynamic monitoring.The color difference of the color and surrounding enviroment of track open-wire line 121 and track concealed wire 122 can guarantee light sensation Receiver is receiving always identical color difference, 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 between temperature monitor 22 and controller 3 is transmitted as being wirelessly transferred.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 forms a closure loop wire.In the present embodiment, patrol track can adjust according to actual needs, 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 a closure 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 needs not move through too many bending, operation more balance, smoothness at runtime.In addition, Figure 27 Shown in scheme, track 12 is also simpler when arranging, more fast.

In the present embodiment, temperature monitor 22 is 50-100mm at a distance from 15 furnace roof of rotary hearth furnace, 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 reaching 300 DEG C, so high temperature resistant heat insulation plate 25 to be arranged on patrol robot 11.

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

(1) in 151 top mounted tracks 12 of the 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 installed with temperature monitor 22 is held Reforwarding is dynamic, and the speed of service for controlling patrol robot 11 is 1-2m/min；

(3) above-mentioned temperature monitor 22 is opened, and makes the monitoring signals real-time transmission of the temperature monitor 22 to a control 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 Stop operating signal out, will manually give the input of controller 3 after reforwarding by operative employee again after furnace lining peeling processing to operative employee Make signal, patrol robot 11 is further continued for operating.Certainly, controller 3 can not also issue the letter that stops operating to patrol robot 11 Number, and running is to continue with for monitoring abnormal signal elsewhere, it can guarantee the continuity of monitoring in this way.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.

It is equipped with furnace lining 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 that measuring and calculating furnace lining peels off position is as follows: stirring the plectrum 6 of limit switch 5 by patrol robot 11, often stirs primary incite somebody to action 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 time, the speed of service of patrol robot 11 and operational process required for the operation of robot 11 one is enclosed and receives monitoring The time automatic measurement & calculation of signal goes out the orbital position where when temperature monitor 22 issues 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 one circle (operation lap time be 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 can be set to uniform motion on the track 12 to guarantee that furnace lining peels off position Anticipation system prejudges out the accuracy that furnace lining peels off position.

Embodiment 5:

As shown in Figure 30, Figure 31, the dynamic monitor that 10 furnace lining of ceramic roller kiln of the present embodiment peels off, ceramic tunnel Kiln 10 includes kiln body 1001 and trolley 1003, and the two sides of kiln body 1001 are symmetrically arranged with row's burner 1002, and kiln body 1001 includes Preheating section, firing section and cooling section, dynamic monitor include patrol device 1, temperature monitor 22 and controller 3, patrol dress Set 1 rail for including patrol robot 11, driving device (including driving motor and traveling wheel 26) and being arranged in around kiln body 1001 Road 12, temperature monitor 22 are mounted on patrol robot 11, and patrol robot 11 is under the drive of the drive in track 12 Upper operation, temperature monitor 22 will around kiln body 1001 received monitoring signals real-time transmission to controller 3.

In the present embodiment, patrol device 1 is that the adjustable equation of light tracking formula in patrol track goes on patrol device, goes on patrol track in kiln In closure loop wire around body 1001.Specific as follows: track 12 is made of track open-wire line 121 and track concealed wire 122, track open-wire line There is color difference 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 guiding device, and light sensation receiver is received from track 12 Coloured light signal simultaneously feeds back to hunting module, and hunting module controls guiding device 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, control of the guiding device in 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 is thus formed so that patrol robot 11 is always held on the patrol track 12 of setting Patrol robot 11 does on scheduled track 12 the patrol campaign of path type, is moved with realizing to porcelain tunnel kiln body State monitoring.The color difference of the color and surrounding enviroment of track open-wire line 121 and track concealed wire 122 can guarantee light sensation receiver one Identical color difference 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 has different distributions density in preheating section, firing section and cooling section, and track 12 exists Clinkering zone distribution density is maximum.Kiln body 1001 be burnt into section temperature highest, be also easiest to occur furnace lining peel off, and preheating section with it is cold But the opposite firing section of a possibility that temperature of section is relatively low, and furnace lining peeling occurs is lower, so needing to be arranged more in firing section 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 connecting The multiple linkage sections for connecing segmental arc are composed a closure loop wire, and the plane where each segmental arc is mutually parallel, burn Mouth 1002 is respectively positioned between the plane where segmental arc.In the present embodiment, patrol track can adjust according to actual needs, such as scheme It is another track-wise in the present embodiment shown in 11.In Figure 33, track 12 is by the straight line set on 1002 two sides of two rows of burners Section and the linkage section for connecting straightway are composed a closure loop wire.In the present embodiment, in Figure 33 shown in scheme For preferred embodiment, because the gradient of Figure 33 middle orbit 12 is smaller, 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 is smaller, is more conducive to energy conservation.

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 falls off from track 12.Magnet anti-derail unit 20 can prevent patrol machine People 11 falls off from track 12.The high temperature that high temperature resistant heat insulation plate 25 can avoid kiln body 1001 influences patrol robot 11.

In the present embodiment, temperature monitor 22 is 50-100mm at a distance from kiln body 1001, 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 dynamic monitor that ceramic 10 kiln lining of tunnel peels off Method, comprising 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 sets and is exported.

It is equipped with furnace lining 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 that measuring and calculating furnace lining peels off position is as follows: stirring the plectrum 6 of limit switch 5 by patrol robot 11, often stirs primary incite somebody to action 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 time, the speed of service of patrol robot 11 and operational process required for the operation of robot 11 one is enclosed and receives monitoring The time automatic measurement & calculation of signal goes out the orbital position where when temperature monitor 22 issues 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 that 7 furnace lining of rotary kiln of the present embodiment peels off, 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 that center is burnt Mouth 72 and for central burner 72 provide fuel valve group platform 73.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) and set The track 12 around kiln body 71 is set, 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 set, temperature monitor 22 received monitoring signals real-time transmission will extremely be controlled around kiln body 71 Device 3 processed.

In the present embodiment, patrol device 1 is that the adjustable equation of light tracking formula in patrol track goes on patrol device, goes on patrol track in kiln In closure loop wire around body 71.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 color difference between track concealed wire 122, track open-wire line 121 is different with the color of surrounding enviroment from the color of track concealed wire 122, patrols Patrolling robot 11 includes light sensation receiver, hunting module and guiding device, and light sensation receiver receives the coloured light from track 12 Signal simultaneously feeds back to hunting module, and hunting module controls guiding device 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, control of the guiding device in 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 scheduled track 12, to realize to the dynamic of the kiln body 71 of rotary kiln 7 State monitoring.The color difference of the color and surrounding enviroment of track open-wire line 121 and track concealed wire 122 can guarantee light sensation receiver one Identical color difference 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 Section surrounds kiln body 71, and the both ends of spiral section are connect with straightway connects into a closure loop wire for the track 12 around kiln body 71.This In embodiment, patrol track can adjust according to actual needs, be another track side in the present embodiment as shown in figure 35 Formula, the track 12 around kiln body 71 is parallel to the parallel-segment of kiln body 71 by multistage and linkage section is constituted, 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 linkage section by parallel-segment.

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 falls off from track 12.Anti-derail unit 20 can prevent patrol robot 11 It falls off from track 12.In addition, rotary kiln body surface temperature is higher (up to 350 DEG C), need to add high temperature resistant heat insulation plate 25.

As shown in figure 29, the present embodiment also provides a kind of prison of dynamic monitor that 7 kiln body of rotary kiln, 71 furnace lining peels off Survey method, comprising 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 installed with temperature monitor 22 is held Reforwarding is dynamic, and the speed of service for controlling the patrol robot 11 is 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 Stop operating signal out, will manually give the input of controller 3 after reforwarding by operative employee again after furnace lining peeling processing to operative employee Make signal, patrol robot 11 is further continued for operating.Certainly, controller 3 can not also issue the letter that stops operating to patrol robot 11 Number, and running is to continue with for monitoring abnormal signal elsewhere, it can guarantee the continuity of monitoring in this way.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.

It is equipped with furnace lining 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 that measuring and calculating furnace lining peels off position is as follows: stirring the plectrum 6 of limit switch 5 by patrol robot 11, often stirs primary incite somebody to action 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 time, the speed of service of patrol robot 11 and operational process required for the operation of robot 11 one is enclosed and receives monitoring The time automatic measurement & calculation of signal goes out the orbital position where when temperature monitor 22 issues 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 set to the top of shaft furnace body 91, and blower device 93 is set to 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 in 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 drive of the drive, temperature Detector 22 will around shaft furnace body 91 received monitoring signals real-time transmission to controller 3.

As shown in figure 36, in the present embodiment, the track 12 around shaft furnace body 91 is by a spiral Duan Yuyi straightway structure At spiral section surrounds shaft furnace body 91, and the both ends of spiral section are connect the track 12 around shaft furnace body 91 with straightway Connect into a closure loop wire.In the present embodiment, patrol track can adjust according to actual needs, be this implementation as shown in figure 37 Another track-wise in example, the track 12 around shaft furnace body 91 are parallel to the parallel-segment and linkage section of shaft furnace body 91 by multistage It constitutes, 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 At a closure loop wire.In the present embodiment, 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, temperature monitor 22 at a distance from shaft furnace body 91 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 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 falls off from track 12.Magnet anti-derail unit 20 can prevent patrol machine People 11 falls off from track 12.The high temperature that high temperature resistant heat insulation plate 25 can avoid shaft furnace body 91 influences patrol robot 11.

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

It is equipped with furnace lining 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 that measuring and calculating furnace lining peels off position is as follows: stirring the plectrum 6 of limit switch 5 by patrol robot 11, often stirs primary incite somebody to action 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 time, the speed of service of patrol robot 11 and operational process required for the operation of robot 11 one is enclosed and receives monitoring The time automatic measurement & calculation of signal goes out the orbital position where when temperature monitor 22 issues 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) include that patrol robot (11), driving device and setting wait supervising in the industrial equipment dangerous situation Location sets the track (12) at place, and the detector is mounted on patrol robot (11), and the patrol robot (11) is driving Run on track (12) under the driving of device, the detector will at position to be monitored received monitoring signals real-time transmission 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 at position to be monitored in closure loop wire.

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) and track concealed wire (122) are constituted, and have color difference between the track open-wire line (121) and track concealed wire (122), The track open-wire line (121) and the color of track concealed wire (122) are different with the color of surrounding enviroment, the patrol robot (11) Including light sensation receiver, hunting module and guiding device, the light sensation receiver receives the coloured light signal from track (12) And hunting module is fed back to, the hunting module control guiding device is to realize that patrol robot (11) continue 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 for stirring dialling for the limit switch (5) Piece (6), the limit switch (5) automatically reset after being struck.