1) There's "DC input alarm" modules. API handles a dozen different models, but none with 3 alarms/3 relays. So you'd have to get a dual input alarm module and a 2nd single input alarm module. Depending on style, they either mount on a socket or directly to DIN rail. The advantage is that the setup is defining the input range and defining the setpoint with some kind of DIP or rotary switches or screw driver pot adjustments. Sometimes the distributor or factory will do that for a minor fee.
http://api-usa.com/signalconditioners_alarms.php
2) Another category of devices called 'single loop temperature controllers' can have a control relay and a couple of alarm relays. Each relay has an adjustable setpoint at which it closes the relay.
These devices are always made to take a thermocouple directly with has a millivolt signal, but I suspect someone makes a unit that can handle 0-5vdc.
One issue is that they're configured from the keypad, but the setup can be somewhat cryptic, with 7 segment LEDs forming unusual characters.
And they're all designed for panel mounting.
Cal, Omron, West, Watlow, are several names that come to mind.