Pre-assembled variable track walking trolley and pre-assembled walking round construction method for kiln lining

Abstract

This invention belongs to the field of high-temperature kiln technology. It discloses a pre-lining variable-track traveling trolley, including a frame, a traveling section, a steering section, and a control system. Traveling wheels are arranged on the lower part of the frame; the traveling section is driven by the traveling wheels and drives the frame; the steering section is used to adjust the steering angle of at least some of the traveling wheels relative to the frame; the control system is used to control the movement of the traveling section and the steering section, and to move along a set trajectory. It also discloses a method for pre-lining kiln interiors using a circular trajectory. This application can achieve adjustment of the circular trajectory with a fixed radius and varying concentric circle diameters, moving and reciprocating along a set circumferential interval angle, realizing automated pre-lining operations, solving the problems of dismantling and stacking after pre-lining, and greatly reducing labor intensity.

Description

Technical Field

[0001] This invention belongs to the field of high-temperature kiln technology, specifically relating to a pre-lined variable track traveling trolley and a method for pre-lined circular construction of kiln lining. Background Technology

[0002] Shaped refractory products are used in the high-temperature kiln industry as linings, located in the highest temperature zone within the furnace and in direct contact with high-temperature media, such as in blast furnaces for iron and steelmaking. Due to the extremely high operating temperature, the requirements for shaped refractory products are extremely stringent. Therefore, pre-lining is necessary after the shaped refractory products are processed. During pre-lining, problems can be identified, anticipated, and resolved in a timely manner, ensuring the smooth installation of the shaped refractory products within the blast furnace, shortening the construction cycle, and enabling the high-temperature kiln to operate safely and stably, achieve production targets, and generate social benefits.

[0003] Blast furnaces vary greatly in size and model both domestically and internationally, and their total number is enormous. Even within the same model of blast furnace, the structural dimensions of different internal parts vary, resulting in inconsistent diameters for the pre-lined refractory components. The furnace diameter ranges from a few meters to tens of meters. Consequently, the pre-lining work is substantial, with each component weighing from a few kilograms to twenty or thirty kilograms. The total weight of a typical blast furnace lining can range from tens to hundreds of tons. Through repeated pre-lining and dismantling processes, the total weight of the refractory components doubles, leading to high labor intensity and a large workforce.

[0004] Currently, given the large variations in the inner diameter of blast furnaces and the high difficulty of refractory product construction, there is an urgent need for automated equipment to achieve variable concentric circle diameters, accurate and stable operation along the pre-built circumference, and to work in conjunction with robotic arms to automate the heavy tasks of pre-built, dismantling, and stacking.

[0005] Existing technologies include solutions such as setting up rotating platforms and laying trolley tracks to achieve a certain degree of automated transportation or placement. However, these solutions have high overall construction costs, poor equipment flexibility, require dragging cables, and are difficult to relocate, thus failing to meet the current requirements for intelligent upgrading of the entire workshop. Summary of the Invention

[0006] The purpose of this invention is to address the aforementioned problems and shortcomings by providing a pre-lining variable-track traveling trolley and a circular construction method for pre-lining kiln linings. This method enables the adjustment of the circular trajectory with a fixed radius and varying concentric circle diameters, allowing the trolley to travel and reciprocate along a set circumferential interval angle. This achieves automated pre-lining operations, solves the problems of dismantling and stacking after pre-lining, and greatly reduces labor intensity.

[0007] To achieve the above objectives, the technical solution adopted is: A pre-built track-changing trolley includes: A frame, with wheels installed at the bottom of the frame; The walking unit is connected to the walking wheels and drives the frame to move. Steering unit, said steering unit for adjusting the steering angle of at least some of the travel wheels relative to the frame; and A control system is provided to control the movement of the walking unit and the steering unit, and to enable them to travel along a set trajectory.

[0008] The walking and turning parts in the above structure enable the frame to travel along a set trajectory, and the trajectory of the frame can be set as needed. It is highly flexible and can meet the automatic travel of the set trajectory. In practical applications, it can be combined with the corresponding construction area for automatic directional or track-changing travel.

[0009] According to the pre-built track-changing trolley of the present invention, preferably, the bottom of the frame is provided with four sets of walking wheels, and the frame is provided with a walking part and a steering part that drive each walking wheel to move independently.

[0010] This application employs four sets of traveling wheels and independently matched traveling and steering units, enabling each traveling wheel to be controlled individually, thereby achieving precise control over the overall travel trajectory of the frame. It is highly flexible and can change the direction of travel on the spot, greatly improving the flexibility of the traveling trolley when changing tracks, and enabling various actions to be performed more conveniently and quickly.

[0011] According to the pre-built track-changing trolley of the present invention, preferably, it further includes a positioning unit and a centering unit, wherein the positioning unit is used to determine the real-time position of the trolley and the centering unit is used to determine the center of the trolley's travel circle.

[0012] In order to achieve the positioning of the traveling trolley in the factory workshop and to enable remote control and automatic movement, this application uses a positioning unit to realize the real-time positioning of the traveling trolley, thereby controlling the trolley to move to various construction work areas in the workshop. The centering unit can be used to calibrate and verify the movement trajectory to ensure the stability of the movement trajectory, avoid positional deviations during the pre-building process, and improve the pre-building assembly effect.

[0013] According to the pre-built track-changing trolley of the present invention, preferably, the centering unit includes a laser scribing device, and laser scribing devices are evenly distributed on each of the walking wheels.

[0014] By deploying laser marking devices on each of the walking wheels, the trajectory of the traveling trolley can be effectively calibrated by relying on the synchronous movement of the turning of the walking wheels and the marking direction of the laser marking device. This allows for more intuitive acquisition of calibration information, facilitating manual verification and enabling efficient construction operations.

[0015] According to the pre-built track-changing trolley of the present invention, preferably, the frame is provided with a storage tray and a robotic arm, and the frame is provided with a battery pack and an inverter power supply; the control system includes a PLC control unit and a wireless communication human-machine interface.

[0016] This application achieves automatic prefabrication and assembly by arranging prefabricated components on storage pallets, using a robotic arm to grasp and place the components, and coordinating with the effective travel path of a traveling trolley. The control system is designed to enable long-distance communication operation and, by importing data, to program process steps and automate construction operations.

[0017] A method for pre-lining kiln interiors using a circular pre-lining trolley, comprising the following steps: a. Determine the initial position and travel radius of the traveling trolley based on the location of the pre-fabrication work area and the dimensions of the lining; b. The control system controls the traveling unit to drive the traveling trolley to the set initial position, and controls the steering unit to adjust the steering angle of the corresponding traveling wheels according to the radius of the traveling trolley to meet the traveling trajectory of the traveling trolley. c. The center of the circular trajectory of the traveling trolley is marked and verified by the centering unit arranged on the traveling trolley; d. Determine the intermittent travel parameters of the traveling trolley based on the position of each pre-built component in the circumferential direction of the inner lining and the corresponding central angle; after each intermittent travel of the traveling trolley, the robotic arm arranged on the traveling trolley completes the placement of the pre-built components at the corresponding positions until the traveling trolley completes one revolution.

[0018] According to the kiln lining pre-lining circular construction method of the present invention, preferably, when the lining to be pre-lined is at least two layers, the pre-lining construction operation of the next layer of lining includes steps e, f and g; e. Based on the central angle of the staggered arrangement between the corresponding pre-built blocks in two adjacent layers of the lining, control the traveling trolley to move along the original circular trajectory and complete the correction of the staggered central angle. f. Maintain the original circular trajectory. After each interval of travel of the trolley, the robotic arm on the trolley will place the pre-built parts at the corresponding positions until the trolley has completed one revolution. g. Repeat steps e and f to pre-lay the lining layer by layer until the pre-laying of the inner lining is completed.

[0019] According to the kiln lining pre-lining circular construction method of the present invention, preferably, when the two adjacent layers of the lining to be pre-lined are concentric variable diameter structures, a track-changing operation step is included before the pre-lining construction of the next layer of lining; the track-changing operation step specifically includes the following steps: x. The control system controls the steering unit to adjust the steering angle of each traveling wheel, so that the traveling trolley can move in a straight line relative to the center of the circular trajectory, and the traveling distance of the traveling trolley is determined according to the variable diameter dimension parameters of the two adjacent layers in the lining. y. After the traveling trolley completes the track change, the steering angle of the traveling wheels is adjusted according to the new circular radius to determine the new circular trajectory. The center of the circular trajectory of the traveling trolley is marked and verified by the centering unit arranged on the traveling trolley to complete the track change operation.

[0020] According to the pre-lining circular construction method of the kiln lining of the present invention, preferably, when the power of the traveling trolley is insufficient, the current position is determined by the positioning unit arranged on the traveling trolley, and the position information and work progress data information are saved. The control system controls the traveling trolley to return to the charging area to replenish the power. After charging is completed, the traveling trolley returns to continue working.

[0021] According to the kiln lining pre-lining circular construction method of the present invention, preferably, when a new lining pre-lining construction operation is carried out at an adjacent position, the control system controls the traveling trolley to move to the initial position, and adjusts the steering angle of the traveling wheels in the opposite direction to meet the new circular trajectory of the traveling trolley, so that the current circular direction of the traveling trolley is opposite to the circular direction of the previous lining pre-lining construction; the kiln lining pre-lining circular construction steps are repeated to complete the new lining pre-lining construction operation.

[0022] The beneficial effects achieved by adopting the above technical solution are: This application addresses the transition from manual to automated prefabrication, improving the automation, precision, and efficiency of prefabrication work. Manual prefabrication is labor-intensive and demanding, thus reducing labor intensity and repetitive tasks; it also alleviates labor shortages, saving significant human and material resources. Furthermore, technological advancements have gradually improved the technological level, greatly reducing labor intensity and labor costs, thereby enhancing the company's market competitiveness. The mobile trolley in this application is highly mobile; with proper control, it can reach any location within the workshop or other workshops in the factory to perform tasks that a robotic arm can, achieving a multi-functional effect.

[0023] This invention reduces the labor intensity and the need for a large workforce in the pre-laying process. It upgrades pre-laying from manual to automated methods, enhances enterprise competitiveness, and lowers labor costs. It also improves pre-laying efficiency and accuracy, and shortens the supply cycle.

[0024] Compared to traditional methods involving the fabrication of rotating platforms and the laying of trolley tracks, this application significantly reduces construction difficulty. The walking control structure is simple, the production transfer process is streamlined, and the circular walking accuracy is high. There is no need to drag cables during movement. A single charge allows for multiple site transfers and pre-laying operations. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. The drawings are merely illustrative of some embodiments of the present invention and are not intended to limit the scope of the present invention to all embodiments.

[0026] Figure 1 This is one of the structural schematic diagrams of the pre-built track-changing traveling trolley according to an embodiment of the present invention.

[0027] Figure 2 This is the second structural schematic diagram of the pre-built track-changing traveling trolley according to an embodiment of the present invention.

[0028] Figure 3 This is a schematic diagram of the circular trajectory of the pre-built track-changing traveling trolley according to an embodiment of the present invention.

[0029] Figure 4 This is a schematic diagram of the movement of a pre-built track-changing traveling trolley in a factory workshop according to an embodiment of the present invention.

[0030] Number in the diagram: 100 is the frame, 101 is the storage tray, 102 is the robot arm mounting base, 103 is the micro hydraulic unit, and 104 is the compressed air unit; 210 is the running gear, and 220 is the steering gear; 301 is the battery pack, 302 is the positioning unit, 303 is the centering unit, 304 is the control system, and 305 is the green light grating; 400 is the driving wheel, 401 is the left front wheel, 402 is the right front wheel, 403 is the left rear wheel, and 404 is the right rear wheel; 500 represents prefabricated components; 600 represents a circular trajectory; 700 is the workshop, 701 is the charging station, 702 is the round-trip line, and 703 is the size marking. Detailed Implementation

[0031] To make the objectives, technical features, and technical effects of the present invention clearer, the following description will clearly and completely describe the exemplary solutions of the present invention in conjunction with the accompanying drawings of specific embodiments of the present invention.

[0032] like Figure 1 and Figure 2As shown, this application discloses a pre-built track-changing trolley, including a frame 100, a traveling unit 210, a steering unit 220, and a control system 304. In this embodiment, the frame 100 can bear a weight of about 5 tons. The frame can be welded from metal rods such as shaped steel and channel steel. Traveling wheels 400 are arranged at the lower part of the frame 100. Specifically, two sets of traveling wheels 400 are arranged on the front side and two sets of traveling wheels 400 are arranged on the rear side of the bottom of the frame 100. The frame is provided with a traveling unit 210 and a steering unit 220 that drive each traveling wheel to move independently. The traveling unit is connected to the traveling wheels and drives the frame to move. The steering unit is used to adjust the steering angle of at least some of the traveling wheels relative to the frame. Each traveling wheel can achieve independent driving and steering. The control system is used to control the movement of the traveling unit and the steering unit and to move along a set trajectory. For the transportation and assembly of prefabricated components, a storage pallet 101 and a robotic arm are provided on the frame. The frame has a reserved robotic arm mounting base 102 to facilitate the installation of the robotic arm. The robotic arm can grasp and place the prefabricated components. A battery pack and an inverter power supply are arranged inside the frame 100. The battery pack is a DC48V-0.6-1KAH lithium battery pack. The control system includes an S7-300 PLC and a wireless communication human-machine interface.

[0033] It is also equipped with a micro hydraulic unit 103 and a compressed air unit 104 to facilitate the power drive of the auxiliary mechanisms on the walking trolley.

[0034] In the above structure, an arm is mounted on the top of the wheel seat of the traveling wheel 400. The arm is pivotally mounted on the frame, and a steering part is mounted on the frame at the top of the arm to drive the arm's circumferential rotation. This steering part can use a servo motor and gear structure to drive the arm's rotation, allowing each traveling wheel to be freely adjusted within a large wrap angle range. The traveling part can be driven by a servo motor fixed to the wheel seat, thus giving each traveling wheel independent steering and traveling capabilities. Other structures of the traveling and steering parts can be selected according to the specific layout of the traveling trolley and are not limited to the structures described above.

[0035] Since it is necessary to determine the position of the traveling trolley and adjust its position and attitude during its movement, this application provides a positioning unit 302. The positioning unit is used to determine the real-time position of the traveling trolley. The positioning unit of this application adopts a radar ranging and positioning mechanism. Multiple sets of radar ranging and positioning mechanisms are arranged in the circumference of the frame to meet the overall real-time positioning and detection.

[0036] Since the traveling trolley needs to maintain a circular trajectory during the pre-lining process, a centering unit 303 is also provided. This centering unit determines the center of the traveling trolley's circle. In this embodiment, the centering unit includes a laser marking device, which is evenly distributed on each of the traveling wheels. Specifically, the laser marking device uses a 1mm wide, high-intensity Acrylic green light, fixed to the wheel seat. It rotates synchronously with the rotation of the traveling wheels, thereby determining the center of the circle by observing the intersection of laser lines on different traveling wheels, facilitating manual calibration and verification.

[0037] During operation, a PLC and wireless communication human-machine interface are used to automatically control the structural components according to set parameters, enabling the trolley to change its reciprocating trajectory, such as circular, rectangular, elliptical, etc., especially concentric circular reciprocating motion. After completion, the trolley resets and returns to the charging positioning area under radar ranging and monitoring coordinates. The arrangement and number of positioning units should be optimized to effectively measure and position the trolley's attitude and location, avoiding inaccurate positioning. Both the centering and positioning units can adopt other existing structural forms to meet the requirements of trolley positioning and circular center calibration.

[0038] like Figure 1 and Figure 2 As shown, Figure 1 This is a side view diagram of the walking vehicle. Figure 2 This is a top view of the structure of the walking vehicle, showing the relative positions of the corresponding structures on the frame; Figure 3 The figure shows the positional relationship between the traveling trolley and the circular trajectory, where the length of the traveling trolley is L, the width is D, and O(x, y) is the center of the circular trajectory.

[0039] This application also discloses a method for pre-lining kiln lining using a circular pre-lining trolley, which automatically performs circular pre-lining using the aforementioned pre-lining track-changing trolley, specifically including the following steps: a. Based on the location of the pre-fabrication work area and the dimensions of the lining, determine the initial position (x, y) and the radius R of the traveling trolley; for example... Figure 4 As shown, dimensions are marked in the factory workshop, and the four walls of the workshop are marked with prominent Arabic numerals per meter. The to-and-go lines of the trolleys are marked according to the charging positions to facilitate standardized driving. b. The control system controls the walking unit to drive the walking trolley to the set initial position (x, y), and controls the steering unit to adjust the steering angle of the corresponding walking wheels according to the walking radius R of the walking trolley, so as to satisfy the walking trajectory 60° of the walking trolley. Specifically, according to the size structure of the frame and the arrangement structure of the walking wheels, the system calculates and determines the steering angles ∠A and ∠B of the left front wheel and the right front wheel in front of the frame. c. The center of the circular trajectory of the traveling trolley is marked and verified by the centering unit arranged on the traveling trolley, such as... Figure 3 As shown, the center of the circle is marked according to the intersection of the green gratings 305 on the centering unit of each walking wheel, and the radius is manually verified. d. Based on the position of each pre-built component 500 in the circumferential direction of the inner lining and the corresponding central angle ∠C, determine the intermittent travel parameters of the traveling trolley; after the single intermittent travel of the traveling trolley is completed, the robot arm arranged on the traveling trolley completes the placement of the pre-built components at the corresponding positions until the traveling trolley completes one revolution, and the turning angle of the traveling trolley remains unchanged throughout the process.

[0040] The inverse function of the rotation angle of the car's front wheels: ∠A = arctan L / (D+R), ∠B = arctan(L / R). After obtaining the values ​​of ∠A and ∠B, the PLC controls the servo motor to make the front wheels controllably steer and self-lock, thus achieving the goal of concentric circular motion.

[0041] By shrinking and expanding the diameter of the circle, a new size of concentric circle can be obtained. ∠A and ∠B are assigned new values. Through automatic steering, concentric diameter change is achieved, and the center line of the rear wheel axle coincides with the diameter line of the circle without difference.

[0042] Note: The angles formed by ∠A, ∠B and the corresponding circle radii and the central axis of the rear wheel of the trolley are complementary.

[0043] Prefabricated component placement process steps: Since the height and number of layers of the pre-built lining vary, depending on the actual operation, when the pre-built lining needs to be at least two layers, the pre-built construction operation of the next layer of lining includes steps e, f and g. e. Based on the central angle ∠kC of the staggered arrangement between the corresponding pre-built blocks in two adjacent layers of the lining, where the value of k is less than 1, control the traveling trolley to move along the original circular trajectory and complete the correction of the staggered central angle. Specifically, after the traveling trolley returns to the original initial position (x, y), it reverses by a certain central angle ∠kC, and then moves according to the central angle ∠C of the pre-built block. f. Maintain the original circular trajectory. After each interval of travel of the trolley, the robotic arm on the trolley will place the pre-built parts at the corresponding positions until the trolley has completed one revolution. g. Repeat steps e and f to pre-lay the lining layer by layer until the pre-laying of the inner lining is completed.

[0044] This application solves the problem of the existing technology's manual centering and drawing of circles, followed by manual pre-laying of qualified products along the circumference of the circle according to the design drawings. This application enables the automatic start of the second, third, and so on layers after the first layer is completed, with the total pre-laying height varying but generally below 2 meters, until the work is completed and accepted. After that, the products are disassembled, stacked, and packaged, greatly reducing work efficiency and costs.

[0045] When the radius dimensions of two precast components are different, a variable-diameter traveling trolley construction step is required: When the two adjacent layers of the lining to be pre-laid are concentric variable diameter structures, a track-changing operation is also included before the pre-laying of the next layer of lining; the track-changing operation specifically includes the following steps: x. The control system controls the steering unit to adjust the steering angle of each traveling wheel, so that the traveling trolley can move in a straight line relative to the center of the circular trajectory, and the traveling distance of the traveling trolley is determined according to the variable diameter dimension parameters of the two adjacent layers in the lining. y. After the traveling trolley completes the track change, the steering angle of the traveling wheels is adjusted according to the new circular radius to determine the new circular trajectory. The center of the circular trajectory of the traveling trolley is marked and verified by the centering unit arranged on the traveling trolley to complete the track change operation.

[0046] Specifically, the travel radius of the trolley can be adjusted according to the actual working conditions, based on the overall radius of the construction. Driven by the steering and travel mechanisms of the four wheels of the trolley, the four wheels turn 90° and become parallel to the rear wheel axis, while simultaneously feeding back the positioning information to the control system and locking itself. Then, driven by the travel mechanism and monitored by radar, the trolley moves in a straight line inward or outward relative to the center of the circle. After reaching the set position, the four-wheel steering drive mechanism rotates 90° in the opposite direction. The system adjusts the travel angles A' and B' of the front wheels according to the newly set r'. The intersection of the gratings on the same side of the trolley is the concentric circle point. After verification, the front wheels drive the trolley to move forward intermittently. After one revolution, the front wheel angle remains unchanged, and the trolley moves intermittently in the opposite direction on the circumference of the concentric circle. This back-and-forth movement achieves the purpose of drawing a circle. With the assistance of a robotic arm, the construction effect of drawing concentric circles can be achieved simultaneously.

[0047] Construction steps when the power is insufficient: When the traveling trolley's battery is low, the positioning unit on the trolley determines its current position and saves the position information and work progress data. The control system then controls the traveling trolley to return to the charging area to replenish its power. After charging is complete, the traveling trolley returns to the saved position information and continues working.

[0048] The construction steps for proceeding with the next pre-lining construction operation after the completion of one lining pre-laying operation are as follows: When a new pre-lining construction operation is carried out at a nearby location, the control system controls the traveling trolley to move to the initial position and adjusts the steering angles ∠A1 and ∠B1 of the traveling wheels in the opposite direction to meet the new circular radius R1, forming a new circular trajectory for the traveling trolley during the pre-lining construction. The current circular direction of the traveling trolley is opposite to the previous circular direction; that is, if the previous circular direction was a leftward turn at the initial position (x, y), then the current circular direction of the traveling trolley is a rightward turn. The remaining construction steps are the same as steps a~g and steps x~z. Depending on the specific situation, the circular construction steps for the kiln lining pre-lining can be repeated to complete the pre-lining construction operation of the new lining.

[0049] The exemplary embodiments of the present invention have been described in detail above with reference to preferred embodiments. However, those skilled in the art will understand that various modifications and alterations can be made to the above specific embodiments without departing from the concept of the present invention, and various combinations can be made to the various technical features and structures proposed in the present invention without exceeding the protection scope of the present invention, which is determined by the appended claims.

Claims

1. A method for pre-lining a kiln in a circular pattern, characterized in that, The automatic circular pre-laying process using a pre-laying track-changing trolley includes the following steps: a. Determine the initial position and travel radius of the traveling trolley based on the location of the pre-fabrication work area and the dimensions of the inner lining; b. The control system controls the traveling unit to drive the traveling trolley to the set initial position, and controls the steering unit to adjust the steering angle of the corresponding traveling wheels according to the radius of the traveling trolley to meet the traveling trajectory of the traveling trolley. c. The center of the circular trajectory of the traveling trolley is marked and verified by the centering unit arranged on the traveling trolley; d. Determine the intermittent travel parameters of the traveling trolley based on the position of each pre-built component in the circumferential direction of the inner lining and the corresponding central angle; after each intermittent travel of the traveling trolley, the robotic arm arranged on the traveling trolley completes the placement of the pre-built components at the corresponding positions until the traveling trolley completes one revolution. The inverse function of the rotation angle of the front wheel of the trolley is: ∠A = arctan L / (D+R), ∠B = arctan(L / R). After obtaining the values ​​of ∠A and ∠B, the front wheel can be steered controllably and self-locked to achieve the purpose of concentric circular movement. By shrinking and expanding the diameter of the circle, a new size of the concentric circle can be obtained. ∠A and ∠B are assigned new values. Through self-controlled steering, concentric diameter change is achieved, and the center line of the rear wheel axle coincides with the diameter line of the circle without difference. Where ∠A is the steering angle of the left front wheel, ∠B is the steering angle of the right front wheel, L is the length of the trolley, D is the width of the trolley, and R is the radius of the circle that the trolley moves in. The pre-built track-changing trolley includes: A frame, with wheels installed at the bottom of the frame; The walking unit is connected to the walking wheels and drives the frame to move. Steering unit, said steering unit for adjusting the steering angle of at least some of the travel wheels relative to the frame; and A control system is provided to control the movement of the walking unit and the steering unit, and to enable them to travel along a set trajectory. The frame is provided with four sets of walking wheels at the bottom, and the frame is provided with a walking part and a steering part that drive each walking wheel to move independently. It also includes a centering unit, which is used to determine the center of the circle the traveling trolley travels; the centering unit includes a laser scribing device, which is evenly distributed on each of the traveling wheels, and the center of the circle is determined by the intersection of the laser lines on different traveling wheels. The pre-lining variable track traveling trolley is used for the pre-lining circular construction of the kiln lining.

2. The method for pre-lining a kiln in a circular pattern according to claim 1, characterized in that, It also includes a positioning unit, which is used to determine the real-time position of the traveling trolley.

3. The method for pre-lining a kiln in a circular pattern according to claim 1, characterized in that, The frame is equipped with a storage tray and a robotic arm, and a battery pack and an inverter are arranged inside the frame; the control system includes a PLC control unit and a wireless communication human-machine interface.

4. The method for pre-lining and circular construction of kiln lining according to claim 1, characterized in that, When the required pre-lining consists of at least two layers, the pre-lining construction work for the next layer of lining includes steps e, f, and g. e. Based on the central angle of the misalignment between the corresponding pre-built blocks in two adjacent layers of the lining, control the traveling trolley to move along the original circular trajectory and complete the correction of the misaligned central angle; specifically, after the traveling trolley returns to its original initial position, it moves backward by a certain central angle ∠kC, and then moves according to the central angle ∠C of the pre-built block, where the value of k is less than 1; f. Maintain the original circular trajectory. After each interval of travel of the trolley, the robotic arm on the trolley will place the pre-built parts at the corresponding positions until the trolley has completed one revolution. g. Repeat steps e and f to pre-lay the lining layer by layer until the pre-laying of the inner lining is completed.

5. The kiln lining pre-lining circular construction method according to claim 4, characterized in that, When the two adjacent layers of the lining to be pre-laid are concentric variable diameter structures, a track-changing operation is also included before the pre-laying of the next layer of lining; the track-changing operation specifically includes the following steps: x. The control system controls the steering unit to adjust the steering angle of each traveling wheel, so that the traveling trolley can move in a straight line relative to the center of the circular trajectory, and the traveling distance of the traveling trolley is determined according to the variable diameter dimension parameters of the two adjacent layers in the lining. y. After the traveling trolley completes the track change, the steering angle of the traveling wheels is adjusted according to the new circular radius to determine the new circular trajectory. The center of the circular trajectory of the traveling trolley is marked and verified by the centering unit arranged on the traveling trolley to complete the track change operation.

6. The kiln lining pre-lining circular construction method according to claim 4, characterized in that, When the power of the traveling trolley is low, the current position is determined by the positioning unit on the traveling trolley, and the position information and work progress data are saved. The control system then controls the traveling trolley to return to the charging area to replenish the power. Once charging is complete, the mobile trolley returns to continue its operation.

7. The method for pre-lining and circular construction of kiln lining according to any one of claims 1-6, characterized in that, When a new pre-lining construction operation is carried out in a nearby location, the control system controls the traveling trolley to move to the initial position, and adjusts the steering angle of the traveling wheels in the opposite direction to meet the new circular trajectory of the traveling trolley, so that the current circular direction of the traveling trolley is opposite to the circular direction of the previous pre-lining construction operation; repeat the circular construction steps of the kiln lining pre-lining to complete the pre-lining construction operation of the new lining.

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